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quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0758495\" diaginertia=\"2.30816e-05 2.23079e-05 2.25931e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0207726 0.0214965 0.0212326\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0207726 0.0214965 0.0212326\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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+          "source": "robomimic_env_render",
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+        "rewards": {
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+          "report_regimes_source": "src.eval_ope.rewards"
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+            {
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+            {
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+                25
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+            {
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+            {
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+            {
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+              "slice": [
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+            {
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+              "slice": [
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+          "keys": [
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+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
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+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_84_t0__0elnbz"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 500,
+    "first_success_step": null,
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+    "requested_horizon": 500,
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+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "configured_max_horizon",
+    "valid_horizon": 500
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+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
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+  "policy_id": "model_epoch18_successrate0.6200_n50_tmax500_tmin38_tavg221.10",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
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+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
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+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch18_successrate0.6200_n50_tmax500_tmin38_tavg221.10",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_84",
+      "initial_condition_id": "demo_84",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_84",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0676158\" diaginertia=\"1.86556e-05 1.84387e-05 1.90367e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0204329 0.0206669 0.0200148\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0204329 0.0206669 0.0200148\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "action_output_space": "raw",
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+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_18.pth",
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+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_18.pth",
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/ph_selection_n50_tmax500/model_epoch18_successrate0.6200_n50_tmax500_tmin38_tavg221.10.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+            "action_dim": 7,
+            "action_output_space": "raw"
+          }
+        },
+        "video": {
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+          "output_fps": 20.0,
+          "render_height": 384,
+          "render_width": 384,
+          "view_layout": "width_concat",
+          "view_names": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_91_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
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+              "slice": [
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+                7
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+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
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+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+              "slice": [
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+                10
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+                13
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+            {
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+                17
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+            {
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+                21
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+            {
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+                23
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+            {
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+                25
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+            },
+            {
+              "name": "robot0_joint_pos",
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+                32
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+            },
+            {
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+              "slice": [
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+                39
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+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
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+                46
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+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
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+          "keys": [
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+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_91_t0__2eu40z"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 500,
+    "first_success_step": null,
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+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": false,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "configured_max_horizon",
+    "valid_horizon": 500
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+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch18_successrate0.6200_n50_tmax500_tmin38_tavg221.10",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
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+                  300
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+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
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+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch18_successrate0.6200_n50_tmax500_tmin38_tavg221.10",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_91",
+      "initial_condition_id": "demo_91",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_91",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0759094\" diaginertia=\"2.25844e-05 2.20495e-05 2.35081e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0213064 0.0217968 0.0204317\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0213064 0.0217968 0.0204317\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "038cdcc09f52ee07783ef8aa7ed540d64592f70f9861f906a7ffabcdbc41da76",
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84.hdf5",
+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__50c6e5219cf9",
+    "target_policy": {
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_18.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_18.pth",
+      "checkpoint_sha256": "d3776b343fb3ada6bacebdfc29a7d1ba400900b139bf34076a9bd6e49ee135d5",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "action_output_space": "raw"
+          }
+        },
+        "video": {
+          "codec": "libx264",
+          "output_fps": 20.0,
+          "render_height": 384,
+          "render_width": 384,
+          "view_layout": "width_concat",
+          "view_names": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_0_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
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+                7
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+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
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+            },
+            {
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+              "slice": [
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+                13
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+            },
+            {
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+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
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+                21
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+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
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+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
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+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
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+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_0_t0__yja361"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 73,
+    "first_success_step": 73,
+    "first_success_timestep_simulator": 72,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 73
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_0",
+      "initial_condition_id": "demo_0",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_0",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
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+  ],
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.066865\" diaginertia=\"1.85871e-05 1.85917e-05 1.79291e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0200577 0.0200526 0.0207806\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0200577 0.0200526 0.0207806\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "d3516324e0b01374abceef3b680fad70aa01c9b63c7e3cea83f2cd6c2c3922ed",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__50c6e5219cf9",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+          }
+        },
+        "video": {
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+          "output_fps": 20.0,
+          "render_height": 384,
+          "render_width": 384,
+          "view_layout": "width_concat",
+          "view_names": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_111_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
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+                7
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+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
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+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+              "name": "object",
+              "slice": [
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+                10
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+                13
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+            {
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+                17
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+            },
+            {
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+                21
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+            {
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+                23
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+            },
+            {
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+                25
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+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
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+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
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+                39
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+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
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+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
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+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_111_t0__tipfr7"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 62,
+    "first_success_step": 62,
+    "first_success_timestep_simulator": 61,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 62
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
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+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
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+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_111",
+      "initial_condition_id": "demo_111",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_111",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0768744\" diaginertia=\"2.3652e-05 2.24448e-05 2.34675e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0208411 0.0219422 0.0210132\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0208411 0.0219422 0.0210132\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0749116\" diaginertia=\"2.18614e-05 2.25138e-05 2.22048e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0213935 0.0207739 0.0210697\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0213935 0.0207739 0.0210697\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "4fb6f7c92dc6a908b01b411e39897e5774255b626b6add4137c500659932f906",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__50c6e5219cf9",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+          "render_height": 384,
+          "render_width": 384,
+          "view_layout": "width_concat",
+          "view_names": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_119_t0"
+        }
+      },
+      "signals": {
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+              "slice": [
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+          "rgb_keys": [
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+            "robot0_eye_in_hand_image"
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+          "source": "robomimic_env_render",
+          "width": 384
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+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+                10
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+                13
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+                17
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+            {
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+                21
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+            {
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+                25
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+            {
+              "name": "robot0_joint_pos",
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+                32
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+            },
+            {
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+                39
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+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
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+                46
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+            {
+              "name": "robot0_joint_vel",
+              "slice": [
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+                53
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+          "keys": [
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+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
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+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_119_t0__dw8iaq"
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+  "outcome": {
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+    "effective_horizon": 51,
+    "first_success_step": 51,
+    "first_success_timestep_simulator": 50,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 51
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+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
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+                  300
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+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
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+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_119",
+      "initial_condition_id": "demo_119",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_119",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0760652\" diaginertia=\"2.28569e-05 2.1941e-05 2.36008e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0211505 0.0219879 0.0204452\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0211505 0.0219879 0.0204452\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" joint=\"robot0_joint4\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j5\" joint=\"robot0_joint5\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j6\" joint=\"robot0_joint6\" ctrlrange=\"-12 12\" actdim=\"0\" />\n    <general name=\"robot0_torq_j7\" joint=\"robot0_joint7\" ctrlrange=\"-12 12\" actdim=\"0\" />\n    <general name=\"gripper0_right_gripper_finger_joint1\" joint=\"gripper0_right_finger_joint1\" ctrlrange=\"0 0.04\" forcerange=\"-20 20\" actdim=\"0\" biastype=\"affine\" gainprm=\"1000 0 0 0 0 0 0 0 0 0\" biasprm=\"0 -1000 0 0 0 0 0 0 0 0\" />\n    <general name=\"gripper0_right_gripper_finger_joint2\" joint=\"gripper0_right_finger_joint2\" ctrlrange=\"-0.04 0\" forcerange=\"-20 20\" actdim=\"0\" biastype=\"affine\" gainprm=\"1000 0 0 0 0 0 0 0 0 0\" biasprm=\"0 -1000 0 0 0 0 0 0 0 0\" />\n  </actuator>\n  <sensor>\n    <force site=\"gripper0_right_ft_frame\" name=\"gripper0_right_force_ee\" />\n    <torque site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "b1799bc390a029368fcc54c16c23c2aec4d78cae1b64e17a279a8894f3793f4f",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__50c6e5219cf9",
+    "target_policy": {
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "action_output_space": "raw"
+          }
+        },
+        "video": {
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+          "output_fps": 20.0,
+          "render_height": 384,
+          "render_width": 384,
+          "view_layout": "width_concat",
+          "view_names": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_13_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
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+                7
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+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
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+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+              "name": "object",
+              "slice": [
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+                10
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+                13
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+            },
+            {
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+              "slice": [
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+                17
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+            },
+            {
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+                21
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+            },
+            {
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                25
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+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
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+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
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+                39
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+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
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+                46
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+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
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+                53
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+          ],
+          "keys": [
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+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_13_t0__g73ec4"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 70,
+    "first_success_step": 70,
+    "first_success_timestep_simulator": 69,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 70
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+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
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+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
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+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_13",
+      "initial_condition_id": "demo_13",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_13",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0741203\" diaginertia=\"2.25105e-05 2.11082e-05 2.18645e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0203495 0.0216993 0.0209821\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0203495 0.0216993 0.0209821\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "7fe57e0f2a4134026deb9c068b298022ef5e52603dd9af52349668dd99350203",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__50c6e5219cf9",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "action_output_space": "raw"
+          }
+        },
+        "video": {
+          "codec": "libx264",
+          "output_fps": 20.0,
+          "render_height": 384,
+          "render_width": 384,
+          "view_layout": "width_concat",
+          "view_names": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_138_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
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+                7
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+          "space": "raw"
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+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
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+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+              "slice": [
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+                10
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+            },
+            {
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+                13
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+            },
+            {
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+                17
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+            },
+            {
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+                21
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+            },
+            {
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                25
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+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
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+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
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+                39
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+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_138_t0__ru7q0s"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 500,
+    "first_success_step": null,
+    "first_success_timestep_simulator": null,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": false,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "configured_max_horizon",
+    "valid_horizon": 500
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_138",
+      "initial_condition_id": "demo_138",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_138",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0733907\" diaginertia=\"2.09094e-05 2.16108e-05 2.18473e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0214677 0.0207893 0.0205554\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0214677 0.0207893 0.0205554\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 -1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0690276\" diaginertia=\"1.91441e-05 1.92665e-05 1.96836e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0207459 0.0206173 0.0201729\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0207459 0.0206173 0.0201729\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "c49f8dc7288fd7e60a9c32bc995ce005ec0d6503a43247ecde31d28775a5cfc3",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__50c6e5219cf9",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "action_output_space": "raw"
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+        },
+        "video": {
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+          "output_fps": 20.0,
+          "render_height": 384,
+          "render_width": 384,
+          "view_layout": "width_concat",
+          "view_names": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_145_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
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+              "slice": [
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+                7
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+          "space": "raw"
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+        "rendering": {
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+          "height": 384,
+          "rgb_keys": [
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+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
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+        "states": {
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+                10
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+                13
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+                17
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+            {
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+                21
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+            {
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+                23
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+            {
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+                25
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+            },
+            {
+              "name": "robot0_joint_pos",
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+                32
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+            },
+            {
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+              "slice": [
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+                39
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+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
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+                46
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+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
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+            }
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+          "keys": [
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+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_145_t0__by9n53"
+  },
+  "outcome": {
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+    "effective_horizon": 500,
+    "first_success_step": null,
+    "first_success_timestep_simulator": null,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": false,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "configured_max_horizon",
+    "valid_horizon": 500
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+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
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+                  300
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+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
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+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_145",
+      "initial_condition_id": "demo_145",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_145",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0798655\" diaginertia=\"2.4517e-05 2.48744e-05 2.46712e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0216812 0.0213694 0.0215473\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0216812 0.0213694 0.0215473\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0728516\" diaginertia=\"2.17894e-05 2.08904e-05 2.09093e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.020298 0.0211903 0.0211719\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.020298 0.0211903 0.0211719\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" joint=\"robot0_joint4\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j5\" joint=\"robot0_joint5\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j6\" joint=\"robot0_joint6\" ctrlrange=\"-12 12\" actdim=\"0\" />\n    <general name=\"robot0_torq_j7\" joint=\"robot0_joint7\" ctrlrange=\"-12 12\" actdim=\"0\" />\n    <general name=\"gripper0_right_gripper_finger_joint1\" joint=\"gripper0_right_finger_joint1\" ctrlrange=\"0 0.04\" forcerange=\"-20 20\" actdim=\"0\" biastype=\"affine\" gainprm=\"1000 0 0 0 0 0 0 0 0 0\" biasprm=\"0 -1000 0 0 0 0 0 0 0 0\" />\n    <general name=\"gripper0_right_gripper_finger_joint2\" joint=\"gripper0_right_finger_joint2\" ctrlrange=\"-0.04 0\" forcerange=\"-20 20\" actdim=\"0\" biastype=\"affine\" gainprm=\"1000 0 0 0 0 0 0 0 0 0\" biasprm=\"0 -1000 0 0 0 0 0 0 0 0\" />\n  </actuator>\n  <sensor>\n    <force site=\"gripper0_right_ft_frame\" name=\"gripper0_right_force_ee\" />\n    <torque site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "9b5ecf6cb5c770004b7a539e1fca1a5e8fc0570c00486daca4642e66556ddad5",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__50c6e5219cf9",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+          "type": "robomimic",
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+            "action_output_space": "raw"
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+          "render_height": 384,
+          "render_width": 384,
+          "view_layout": "width_concat",
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+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
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+        "initial_condition": {
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+              "slice": [
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+          "rgb_keys": [
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+          "source": "robomimic_env_render",
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+          "report_regimes_source": "src.eval_ope.rewards"
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+            {
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+            {
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+            "robot0_eef_quat",
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+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_154_t0__ehwveh"
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+    "effective_horizon": 500,
+    "first_success_step": null,
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+    "observation_horizon": 2,
+    "prediction_horizon": 16
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+  "policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
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+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
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+                "gripper": {
+                  "type": "GRIP"
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+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
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+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.5,
+                  0.5,
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+                "output_min": [
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+                  -0.05,
+                  -0.5,
+                  -0.5,
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+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_154",
+      "initial_condition_id": "demo_154",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_154",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0706151\" diaginertia=\"2.00863e-05 1.96734e-05 2.06044e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0207101 0.0211293 0.0201717\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0207101 0.0211293 0.0201717\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0743777\" diaginertia=\"2.12482e-05 2.18882e-05 2.27382e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0217135 0.0211107 0.0202824\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0217135 0.0211107 0.0202824\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" joint=\"robot0_joint4\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j5\" joint=\"robot0_joint5\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j6\" joint=\"robot0_joint6\" ctrlrange=\"-12 12\" actdim=\"0\" />\n    <general name=\"robot0_torq_j7\" joint=\"robot0_joint7\" ctrlrange=\"-12 12\" actdim=\"0\" />\n    <general name=\"gripper0_right_gripper_finger_joint1\" joint=\"gripper0_right_finger_joint1\" ctrlrange=\"0 0.04\" forcerange=\"-20 20\" actdim=\"0\" biastype=\"affine\" gainprm=\"1000 0 0 0 0 0 0 0 0 0\" biasprm=\"0 -1000 0 0 0 0 0 0 0 0\" />\n    <general name=\"gripper0_right_gripper_finger_joint2\" joint=\"gripper0_right_finger_joint2\" ctrlrange=\"-0.04 0\" forcerange=\"-20 20\" actdim=\"0\" biastype=\"affine\" gainprm=\"1000 0 0 0 0 0 0 0 0 0\" biasprm=\"0 -1000 0 0 0 0 0 0 0 0\" />\n  </actuator>\n  <sensor>\n    <force site=\"gripper0_right_ft_frame\" name=\"gripper0_right_force_ee\" />\n    <torque site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "4f941eccd248aee919fc769f5296fa20632ab24b4b14d70bbaf8b7dd1604d9cf",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__50c6e5219cf9",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+          }
+        },
+        "video": {
+          "codec": "libx264",
+          "output_fps": 20.0,
+          "render_height": 384,
+          "render_width": 384,
+          "view_layout": "width_concat",
+          "view_names": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_159_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
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+                7
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+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
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+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+              "name": "object",
+              "slice": [
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+                10
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+            },
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+              "slice": [
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+                13
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+            {
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+                17
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+            },
+            {
+              "name": "robot0_eef_quat_site",
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+                21
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+            },
+            {
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                25
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+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
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+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
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+                39
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+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
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+                46
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+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
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+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_159_t0__sc8w82"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 45,
+    "first_success_step": 45,
+    "first_success_timestep_simulator": 44,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 45
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_159",
+      "initial_condition_id": "demo_159",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_159",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" 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1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 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contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.074162\" diaginertia=\"2.24541e-05 2.20705e-05 2.10279e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.020434 0.0208103 0.0218001\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.020434 0.0208103 0.0218001\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
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+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
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+      "sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26"
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+      "sha256": "caabf40b52b89e0cfed9c707c5f40459985d937b7c491b4b14cb4d6c8e8ef50f"
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0717763\" diaginertia=\"2.10887e-05 2.06031e-05 2.03205e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0203596 0.0208521 0.0211335\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0203596 0.0208521 0.0211335\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" joint=\"robot0_joint4\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j5\" joint=\"robot0_joint5\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j6\" joint=\"robot0_joint6\" ctrlrange=\"-12 12\" actdim=\"0\" />\n    <general name=\"robot0_torq_j7\" joint=\"robot0_joint7\" ctrlrange=\"-12 12\" actdim=\"0\" />\n    <general name=\"gripper0_right_gripper_finger_joint1\" joint=\"gripper0_right_finger_joint1\" ctrlrange=\"0 0.04\" forcerange=\"-20 20\" actdim=\"0\" biastype=\"affine\" gainprm=\"1000 0 0 0 0 0 0 0 0 0\" biasprm=\"0 -1000 0 0 0 0 0 0 0 0\" />\n    <general name=\"gripper0_right_gripper_finger_joint2\" joint=\"gripper0_right_finger_joint2\" ctrlrange=\"-0.04 0\" forcerange=\"-20 20\" actdim=\"0\" biastype=\"affine\" gainprm=\"1000 0 0 0 0 0 0 0 0 0\" biasprm=\"0 -1000 0 0 0 0 0 0 0 0\" />\n  </actuator>\n  <sensor>\n    <force site=\"gripper0_right_ft_frame\" name=\"gripper0_right_force_ee\" />\n    <torque site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "d866b2bc92ab8ec964a681d1b024dc08e4acf361739dccf9916460aed5d64226",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__50c6e5219cf9",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "action_output_space": "raw"
+          }
+        },
+        "video": {
+          "codec": "libx264",
+          "output_fps": 20.0,
+          "render_height": 384,
+          "render_width": 384,
+          "view_layout": "width_concat",
+          "view_names": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_165_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
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+              "slice": [
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+                7
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+          "space": "raw"
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+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
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+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+              "slice": [
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+                10
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+              "slice": [
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+                13
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+            },
+            {
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+                17
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+            },
+            {
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+                21
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+            },
+            {
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+                23
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+            },
+            {
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+                25
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+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
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+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
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+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
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+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
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+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_165_t0__s2pp7c"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 58,
+    "first_success_step": 58,
+    "first_success_timestep_simulator": 57,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 58
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
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+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_165",
+      "initial_condition_id": "demo_165",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_165",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0764428\" diaginertia=\"2.31327e-05 2.30228e-05 2.26971e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0210528 0.0211549 0.0214549\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0210528 0.0211549 0.0214549\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "policy_type": "robomimic",
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+      "sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26"
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+  "view_names": [
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0715151\" diaginertia=\"2.05155e-05 2.05917e-05 2.05006e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0207747 0.0206977 0.0207898\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0207747 0.0206977 0.0207898\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" joint=\"robot0_joint4\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j5\" joint=\"robot0_joint5\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j6\" joint=\"robot0_joint6\" ctrlrange=\"-12 12\" actdim=\"0\" />\n    <general name=\"robot0_torq_j7\" joint=\"robot0_joint7\" ctrlrange=\"-12 12\" actdim=\"0\" />\n    <general name=\"gripper0_right_gripper_finger_joint1\" joint=\"gripper0_right_finger_joint1\" ctrlrange=\"0 0.04\" forcerange=\"-20 20\" actdim=\"0\" biastype=\"affine\" gainprm=\"1000 0 0 0 0 0 0 0 0 0\" biasprm=\"0 -1000 0 0 0 0 0 0 0 0\" />\n    <general name=\"gripper0_right_gripper_finger_joint2\" joint=\"gripper0_right_finger_joint2\" ctrlrange=\"-0.04 0\" forcerange=\"-20 20\" actdim=\"0\" biastype=\"affine\" gainprm=\"1000 0 0 0 0 0 0 0 0 0\" biasprm=\"0 -1000 0 0 0 0 0 0 0 0\" />\n  </actuator>\n  <sensor>\n    <force site=\"gripper0_right_ft_frame\" name=\"gripper0_right_force_ee\" />\n    <torque site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "564297305b2258e106ece6ba25614d256e662ff8526b8d43a05108cb5602fcbc",
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84.hdf5",
+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+      "repository_dirty": true
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__50c6e5219cf9",
+    "target_policy": {
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "action_output_space": "raw"
+          }
+        },
+        "video": {
+          "codec": "libx264",
+          "output_fps": 20.0,
+          "render_height": 384,
+          "render_width": 384,
+          "view_layout": "width_concat",
+          "view_names": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_172_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
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+                7
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+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+              "name": "object",
+              "slice": [
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+                10
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+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
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+                13
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+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
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+                17
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+            },
+            {
+              "name": "robot0_eef_quat_site",
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+                21
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+            },
+            {
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_172_t0__1vv7dw"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 43,
+    "first_success_step": 43,
+    "first_success_timestep_simulator": 42,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 43
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_172",
+      "initial_condition_id": "demo_172",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_172",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom 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contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0755649\" diaginertia=\"2.18502e-05 2.30215e-05 2.27242e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0217793 0.0206842 0.0209676\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0217793 0.0206842 0.0209676\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
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+      "sha256": "caabf40b52b89e0cfed9c707c5f40459985d937b7c491b4b14cb4d6c8e8ef50f"
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+    "robot0_eye_in_hand_image"
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0725516\" diaginertia=\"2.09851e-05 2.09174e-05 2.12047e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0209047 0.0209715 0.0206863\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0209047 0.0209715 0.0206863\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "0ad64a5cf07bd8b4f781c8587c2223cf5bf3c18b089774f1fd13f7c5ce3b2169",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__50c6e5219cf9",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+            "action_output_space": "raw"
+          }
+        },
+        "video": {
+          "codec": "libx264",
+          "output_fps": 20.0,
+          "render_height": 384,
+          "render_width": 384,
+          "view_layout": "width_concat",
+          "view_names": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_191_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
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+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
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+                13
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+            },
+            {
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+              "slice": [
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+                17
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+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
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+                21
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+            },
+            {
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_191_t0__vqy3dh"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 44,
+    "first_success_step": 44,
+    "first_success_timestep_simulator": 43,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 44
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_191",
+      "initial_condition_id": "demo_191",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_191",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0764442\" diaginertia=\"2.27061e-05 2.29234e-05 2.32283e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0214488 0.0212492 0.0209657\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0214488 0.0212492 0.0209657\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "56b7e3f009af8c44b3a0bf17c101b004c6f881bbf7ce13b859ed8262137d9755",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__50c6e5219cf9",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "action_output_space": "raw"
+          }
+        },
+        "video": {
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+          "output_fps": 20.0,
+          "render_height": 384,
+          "render_width": 384,
+          "view_layout": "width_concat",
+          "view_names": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_39_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
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+                7
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+          "space": "raw"
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+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+              "name": "object",
+              "slice": [
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+                10
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+                13
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+            },
+            {
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+                17
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+            },
+            {
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+                21
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+            },
+            {
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                25
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+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
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+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
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+                39
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+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
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+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
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+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_39_t0__82zzmy"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 46,
+    "first_success_step": 46,
+    "first_success_timestep_simulator": 45,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 46
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_39",
+      "initial_condition_id": "demo_39",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_39",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0732011\" diaginertia=\"2.07037e-05 2.14256e-05 2.19959e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.021576 0.0208791 0.0203117\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.021576 0.0208791 0.0203117\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
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+      "sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26"
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+      "sha256": "caabf40b52b89e0cfed9c707c5f40459985d937b7c491b4b14cb4d6c8e8ef50f"
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+  "view_names": [
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+    "robot0_eye_in_hand_image"
+  ],
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.075706\" diaginertia=\"2.17322e-05 2.35032e-05 2.26447e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0219945 0.0203367 0.0211566\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0219945 0.0203367 0.0211566\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" joint=\"robot0_joint4\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j5\" joint=\"robot0_joint5\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j6\" joint=\"robot0_joint6\" ctrlrange=\"-12 12\" actdim=\"0\" />\n    <general name=\"robot0_torq_j7\" joint=\"robot0_joint7\" ctrlrange=\"-12 12\" actdim=\"0\" />\n    <general name=\"gripper0_right_gripper_finger_joint1\" joint=\"gripper0_right_finger_joint1\" ctrlrange=\"0 0.04\" forcerange=\"-20 20\" actdim=\"0\" biastype=\"affine\" gainprm=\"1000 0 0 0 0 0 0 0 0 0\" biasprm=\"0 -1000 0 0 0 0 0 0 0 0\" />\n    <general name=\"gripper0_right_gripper_finger_joint2\" joint=\"gripper0_right_finger_joint2\" ctrlrange=\"-0.04 0\" forcerange=\"-20 20\" actdim=\"0\" biastype=\"affine\" gainprm=\"1000 0 0 0 0 0 0 0 0 0\" biasprm=\"0 -1000 0 0 0 0 0 0 0 0\" />\n  </actuator>\n  <sensor>\n    <force site=\"gripper0_right_ft_frame\" name=\"gripper0_right_force_ee\" />\n    <torque site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "cc22778e8d8767e5b8efaf6a18c03375cc4eb794b3415f357bd3d405f0a59a88",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__50c6e5219cf9",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+          }
+        },
+        "video": {
+          "codec": "libx264",
+          "output_fps": 20.0,
+          "render_height": 384,
+          "render_width": 384,
+          "view_layout": "width_concat",
+          "view_names": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_6_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
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+              "slice": [
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+                7
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+          ],
+          "space": "raw"
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+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
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+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+              "slice": [
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+                10
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+              "slice": [
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+                13
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+            {
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+                17
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+            },
+            {
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+                21
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+            },
+            {
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+                23
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+            },
+            {
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+                25
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+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
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+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
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+                39
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+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
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+                46
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+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
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+                53
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+          "keys": [
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+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_6_t0__5nqltq"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 45,
+    "first_success_step": 45,
+    "first_success_timestep_simulator": 44,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 45
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_6",
+      "initial_condition_id": "demo_6",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_6",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0738395\" diaginertia=\"2.1902e-05 2.08914e-05 2.22809e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0207868 0.021752 0.0204132\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0207868 0.021752 0.0204132\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0673691\" diaginertia=\"1.87917e-05 1.81177e-05 1.8899e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0201442 0.0208758 0.0200252\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0201442 0.0208758 0.0200252\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "c37627bd94e17defb0431d722358dfd2c41892743b83dcea0342d97beeeedfe2",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__50c6e5219cf9",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+          "render_height": 384,
+          "render_width": 384,
+          "view_layout": "width_concat",
+          "view_names": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_68_t0"
+        }
+      },
+      "signals": {
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+              "slice": [
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+          "space": "raw"
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+        "rendering": {
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+          "height": 384,
+          "rgb_keys": [
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+            "robot0_eye_in_hand_image"
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+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
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+        "states": {
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+                13
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+                17
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+            {
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+                21
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+            {
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+            {
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+                25
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+            {
+              "name": "robot0_joint_pos",
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+                32
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+            },
+            {
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+              "slice": [
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+                39
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+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
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+                46
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+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
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+                53
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+          "keys": [
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+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
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+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_68_t0__cctxar"
+  },
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+    "configured_max_horizon": 500,
+    "effective_horizon": 500,
+    "first_success_step": null,
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+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": false,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "configured_max_horizon",
+    "valid_horizon": 500
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+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
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+                  300
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+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
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+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_68",
+      "initial_condition_id": "demo_68",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_68",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0758234\" diaginertia=\"2.32299e-05 2.29691e-05 2.18154e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0206497 0.0208981 0.021963\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0206497 0.0208981 0.021963\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0801538\" diaginertia=\"2.46151e-05 2.46928e-05 2.52128e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0217551 0.0216882 0.0212348\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0217551 0.0216882 0.0212348\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "07eff67304c73fc4600da1f9e0ea1f4890eff948d06daab821eff4b744ecdfa1",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__50c6e5219cf9",
+    "target_policy": {
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+        },
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+          "output_fps": 20.0,
+          "render_height": 384,
+          "render_width": 384,
+          "view_layout": "width_concat",
+          "view_names": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_80_t0"
+        }
+      },
+      "signals": {
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+              "slice": [
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+          "space": "raw"
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+        "rendering": {
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+          "height": 384,
+          "rgb_keys": [
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+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
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+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
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+                10
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+                13
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+                17
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+            {
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+                21
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+            {
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+            {
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+                25
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+            {
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+            },
+            {
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+                39
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+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
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+                46
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+            {
+              "name": "robot0_joint_vel",
+              "slice": [
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+                53
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+          "keys": [
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+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
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+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_80_t0__jbz11v"
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+    "effective_horizon": 500,
+    "first_success_step": null,
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+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": false,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "configured_max_horizon",
+    "valid_horizon": 500
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+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
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+  "policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
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+                  300
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+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
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+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_80",
+      "initial_condition_id": "demo_80",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_80",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0758495\" diaginertia=\"2.30816e-05 2.23079e-05 2.25931e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0207726 0.0214965 0.0212326\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0207726 0.0214965 0.0212326\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" joint=\"robot0_joint4\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j5\" joint=\"robot0_joint5\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j6\" joint=\"robot0_joint6\" ctrlrange=\"-12 12\" actdim=\"0\" />\n    <general name=\"robot0_torq_j7\" joint=\"robot0_joint7\" ctrlrange=\"-12 12\" actdim=\"0\" />\n    <general name=\"gripper0_right_gripper_finger_joint1\" joint=\"gripper0_right_finger_joint1\" ctrlrange=\"0 0.04\" forcerange=\"-20 20\" actdim=\"0\" biastype=\"affine\" gainprm=\"1000 0 0 0 0 0 0 0 0 0\" biasprm=\"0 -1000 0 0 0 0 0 0 0 0\" />\n    <general name=\"gripper0_right_gripper_finger_joint2\" joint=\"gripper0_right_finger_joint2\" ctrlrange=\"-0.04 0\" forcerange=\"-20 20\" actdim=\"0\" biastype=\"affine\" gainprm=\"1000 0 0 0 0 0 0 0 0 0\" biasprm=\"0 -1000 0 0 0 0 0 0 0 0\" />\n  </actuator>\n  <sensor>\n    <force site=\"gripper0_right_ft_frame\" name=\"gripper0_right_force_ee\" />\n    <torque site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "b57449967055da87c9e940c510a372da62c031bbe72b1e2427b201d69ea24060",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__50c6e5219cf9",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+        },
+        "video": {
+          "codec": "libx264",
+          "output_fps": 20.0,
+          "render_height": 384,
+          "render_width": 384,
+          "view_layout": "width_concat",
+          "view_names": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_89_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
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+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+              "name": "object",
+              "slice": [
+                0,
+                10
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+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
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+                13
+              ]
+            },
+            {
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+              "slice": [
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+                17
+              ]
+            },
+            {
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+              "slice": [
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+                21
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+            },
+            {
+              "name": "robot0_gripper_qpos",
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_89_t0__w8n6l8"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 53,
+    "first_success_step": 53,
+    "first_success_timestep_simulator": 52,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 53
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_89",
+      "initial_condition_id": "demo_89",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_89",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0676158\" diaginertia=\"1.86556e-05 1.84387e-05 1.90367e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0204329 0.0206669 0.0200148\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0204329 0.0206669 0.0200148\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0680325\" diaginertia=\"1.91402e-05 1.90808e-05 1.84944e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0201608 0.0202258 0.0208551\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0201608 0.0202258 0.0208551\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 -1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "0c44df880b60fc85c9e86578a45bd31a5c04f9cfc703f77954e044ad9eb34f64",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__50c6e5219cf9",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "action_dim": 7,
+            "action_output_space": "raw"
+          }
+        },
+        "video": {
+          "codec": "libx264",
+          "output_fps": 20.0,
+          "render_height": 384,
+          "render_width": 384,
+          "view_layout": "width_concat",
+          "view_names": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_92_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
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+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+              "name": "object",
+              "slice": [
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+                10
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+            },
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+              "slice": [
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+                13
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+            },
+            {
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+              "slice": [
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+                17
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+            },
+            {
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+                21
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+            },
+            {
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                25
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+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
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+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
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+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
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+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
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+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_92_t0__w5hmia"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 42,
+    "first_success_step": 42,
+    "first_success_timestep_simulator": 41,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 42
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
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+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505455"
+    },
+    "execution_policy_id": "model_epoch23_successrate0.7600_n50_tmax500_tmin39_tavg157.34",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_92",
+      "initial_condition_id": "demo_92",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_92",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom 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contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0759094\" diaginertia=\"2.25844e-05 2.20495e-05 2.35081e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0213064 0.0217968 0.0204317\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0213064 0.0217968 0.0204317\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
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+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "policy_type": "robomimic",
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+      "sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26"
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+      "sha256": "caabf40b52b89e0cfed9c707c5f40459985d937b7c491b4b14cb4d6c8e8ef50f"
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+  "view_names": [
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+    "robot0_eye_in_hand_image"
+  ],
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0738263\" diaginertia=\"2.19004e-05 2.14399e-05 2.1631e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0207398 0.0211862 0.0210021\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0207398 0.0211862 0.0210021\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__50c6e5219cf9",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/branches/continuation_seed0_epoch6_a63e4241f563/models/intermediate/model_epoch_23.pth",
+      "checkpoint_sha256": "4240d888c614bdad23fa869db59cb225a05323ee817bf27fcf65ff3102902e26",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_10_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
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+            }
+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                10,
+                13
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
+                17,
+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
+                21,
+                23
+              ]
+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                25,
+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_10_t0__q13jto"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 45,
+    "first_success_step": 45,
+    "first_success_timestep_simulator": 44,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 45
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_10",
+      "initial_condition_id": "demo_10",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_10",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0739516\" diaginertia=\"2.13201e-05 2.22367e-05 2.16288e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0213846 0.0204967 0.0210898\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0213846 0.0204967 0.0210898\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_116_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
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+              "slice": [
+                0,
+                7
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+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
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+                13
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
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+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
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+                21
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+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_116_t0__hysf8q"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 500,
+    "first_success_step": null,
+    "first_success_timestep_simulator": null,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": false,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "configured_max_horizon",
+    "valid_horizon": 500
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_116",
+      "initial_condition_id": "demo_116",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_116",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0750732\" diaginertia=\"2.22899e-05 2.32892e-05 2.13846e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0211481 0.0201819 0.0219868\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0211481 0.0201819 0.0219868\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "fd40edc73ba22db7139b1a0909e7c19a74e8a0779b09c173b756a948240d838d",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
+    "target_policy": {
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_123_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
+              ]
+            }
+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
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+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                10,
+                13
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+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
+                17,
+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
+                21,
+                23
+              ]
+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                25,
+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_123_t0__21far9"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 44,
+    "first_success_step": 44,
+    "first_success_timestep_simulator": 43,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 44
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_123",
+      "initial_condition_id": "demo_123",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_123",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0740299\" diaginertia=\"2.12497e-05 2.19839e-05 2.20631e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0214923 0.0207886 0.0207114\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0214923 0.0207886 0.0207114\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "d8c047c67071be82b96ad6c38c1fac538fe67ad2d8969a2b91b97154b36db632",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_131_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
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+                7
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+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
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+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
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+                13
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+            },
+            {
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+              "slice": [
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+                17
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+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
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+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_131_t0__t2l681"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 38,
+    "first_success_step": 38,
+    "first_success_timestep_simulator": 37,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 38
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_131",
+      "initial_condition_id": "demo_131",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_131",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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</body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0741203\" diaginertia=\"2.25105e-05 2.11082e-05 2.18645e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0203495 0.0216993 0.0209821\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0203495 0.0216993 0.0209821\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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+  ],
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0676908\" diaginertia=\"1.88334e-05 1.8575e-05 1.88111e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0202761 0.0205565 0.0203004\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0202761 0.0205565 0.0203004\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "992efe145819aa6137049d7c9a96aba67a1fb3dc06a78f2cd93f7d8de6444714",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_139_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
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+                7
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+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
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+            },
+            {
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+              "slice": [
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+                13
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+            },
+            {
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+              "slice": [
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+                17
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+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
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+                21
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+            },
+            {
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
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+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_139_t0__tjn7kv"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 57,
+    "first_success_step": 57,
+    "first_success_timestep_simulator": 56,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 57
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_139",
+      "initial_condition_id": "demo_139",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_139",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0755755\" diaginertia=\"2.32428e-05 2.17101e-05 2.26999e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0204968 0.0219308 0.021016\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0204968 0.0219308 0.021016\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "5e3025139d08f295b8966b3fd50bac6e3d4e9466aaee593cfd7214e4c4a83832",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_152_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
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+                7
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+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+              "name": "object",
+              "slice": [
+                0,
+                10
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+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
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+                13
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+            },
+            {
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+              "slice": [
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+                17
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+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
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+                21
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+            },
+            {
+              "name": "robot0_gripper_qpos",
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_152_t0__b12e41"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 41,
+    "first_success_step": 41,
+    "first_success_timestep_simulator": 40,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 41
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_152",
+      "initial_condition_id": "demo_152",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_152",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom 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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0703358\" diaginertia=\"2.05258e-05 1.89409e-05 2.06299e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0201533 0.021766 0.0200429\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0201533 0.021766 0.0200429\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "ac2394abb9284e6b3dcaca560c2e46776c0a2e6986dd1ced16c7ebd6ee3afc82",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
+    "target_policy": {
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_157_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
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+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+              "name": "object",
+              "slice": [
+                0,
+                10
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+            },
+            {
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+              "slice": [
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+                13
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+            },
+            {
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+              "slice": [
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+                17
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+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
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+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_157_t0__0akqpv"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 48,
+    "first_success_step": 48,
+    "first_success_timestep_simulator": 47,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 48
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_157",
+      "initial_condition_id": "demo_157",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_157",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0743777\" diaginertia=\"2.12482e-05 2.18882e-05 2.27382e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0217135 0.0211107 0.0202824\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0217135 0.0211107 0.0202824\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
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+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
+      "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "train_action_config": {
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/ph_selection_n50_tmax500/model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50.pth",
+      "sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0"
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/config.json",
+      "sha256": "d49a404c611da147b8056edd11b6b37aac79327aafb777c7f663cf33a189288a"
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+  "view_names": [
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+    "robot0_eye_in_hand_image"
+  ],
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0734319\" diaginertia=\"2.20514e-05 2.06272e-05 2.18111e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.020407 0.021786 0.0206461\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.020407 0.021786 0.0206461\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "669c1722b1659dc7fb031036e2a14e266c56edd40dd738c9f453592cdb55d609",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
+    "target_policy": {
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_160_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
+              ]
+            }
+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                10,
+                13
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
+                17,
+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
+                21,
+                23
+              ]
+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                25,
+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_160_t0__2v1kzu"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 42,
+    "first_success_step": 42,
+    "first_success_timestep_simulator": 41,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 42
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_160",
+      "initial_condition_id": "demo_160",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_160",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link0.stl\" />\n    <mesh name=\"robot0_link1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link1.stl\" />\n    <mesh name=\"robot0_link2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link2.stl\" />\n    <mesh name=\"robot0_link3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link3.stl\" />\n    <mesh name=\"robot0_link4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link4.stl\" />\n    <mesh name=\"robot0_link5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link5.stl\" />\n    <mesh name=\"robot0_link6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link6.stl\" />\n    <mesh name=\"robot0_link7\" 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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0717763\" diaginertia=\"2.10887e-05 2.06031e-05 2.03205e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0203596 0.0208521 0.0211335\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0203596 0.0208521 0.0211335\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "action_output_space": "raw",
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+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
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+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
+      "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "train_action_config": {
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/ph_selection_n50_tmax500/model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50.pth",
+      "sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0"
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+  "view_names": [
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+    "robot0_eye_in_hand_image"
+  ],
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0776048\" diaginertia=\"2.29076e-05 2.3874e-05 2.38667e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0219087 0.0210389 0.0210455\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0219087 0.0210389 0.0210455\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "6c016be428c5d3d59a73dccb170ea02cac76a806d8c1d7470a64de4f30fb373b",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
+    "target_policy": {
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_168_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
+              ]
+            }
+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                10,
+                13
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
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+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
+                21,
+                23
+              ]
+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                25,
+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_168_t0__j82q0z"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 500,
+    "first_success_step": null,
+    "first_success_timestep_simulator": null,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": false,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "configured_max_horizon",
+    "valid_horizon": 500
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_168",
+      "initial_condition_id": "demo_168",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_168",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0715151\" diaginertia=\"2.05155e-05 2.05917e-05 2.05006e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0207747 0.0206977 0.0207898\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0207747 0.0206977 0.0207898\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
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+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
+      "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "train_action_config": {
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+      "sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0"
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/config.json",
+      "sha256": "d49a404c611da147b8056edd11b6b37aac79327aafb777c7f663cf33a189288a"
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+  "view_names": [
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+    "robot0_eye_in_hand_image"
+  ],
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom 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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0703234\" diaginertia=\"2.02249e-05 1.99877e-05 1.97067e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0203786 0.0206253 0.0209139\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0203786 0.0206253 0.0209139\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_179_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
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+                7
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+            }
+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                10,
+                13
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
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+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                25,
+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_179_t0__6eojfp"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 42,
+    "first_success_step": 42,
+    "first_success_timestep_simulator": 41,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 42
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_179",
+      "initial_condition_id": "demo_179",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_179",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0725516\" diaginertia=\"2.09851e-05 2.09174e-05 2.12047e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0209047 0.0209715 0.0206863\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0209047 0.0209715 0.0206863\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom 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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.077204\" diaginertia=\"2.27147e-05 2.31725e-05 2.42041e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0218897 0.0214795 0.0205252\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0218897 0.0214795 0.0205252\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_198_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
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+                7
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+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
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+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
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+                13
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+            },
+            {
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+              "slice": [
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+                17
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+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
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+                21
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+            },
+            {
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_198_t0__zz2epo"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 43,
+    "first_success_step": 43,
+    "first_success_timestep_simulator": 42,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 43
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_198",
+      "initial_condition_id": "demo_198",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_198",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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+      "train_action_config": {
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+  ],
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0719288\" diaginertia=\"2.09284e-05 2.14943e-05 1.99034e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0206607 0.0200815 0.0216706\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0206607 0.0200815 0.0216706\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "7212de22477df2274501cf08c4253fa9c67742f8ab5029f0bb2fcfc1937e49ff",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
+    "target_policy": {
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_5_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
+              ]
+            }
+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                10,
+                13
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
+                17,
+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
+                21,
+                23
+              ]
+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                25,
+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_5_t0__km3c4y"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 47,
+    "first_success_step": 47,
+    "first_success_timestep_simulator": 46,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 47
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_5",
+      "initial_condition_id": "demo_5",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_5",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.075706\" diaginertia=\"2.17322e-05 2.35032e-05 2.26447e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0219945 0.0203367 0.0211566\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0219945 0.0203367 0.0211566\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0739558\" diaginertia=\"2.21504e-05 2.20902e-05 2.09879e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0206025 0.0206617 0.0217168\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0206025 0.0206617 0.0217168\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_60_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
+              ]
+            }
+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                10,
+                13
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
+                17,
+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
+                21,
+                23
+              ]
+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                25,
+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_60_t0__2ztv8s"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 43,
+    "first_success_step": 43,
+    "first_success_timestep_simulator": 42,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 43
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_60",
+      "initial_condition_id": "demo_60",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_60",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0787662\" diaginertia=\"2.41519e-05 2.46683e-05 2.3594e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0214278 0.0209638 0.021918\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0214278 0.0209638 0.021918\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "8246f5148aff68c04e18d00770aa279e9e250e9d6e875c0868812192fa7368d8",
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+      "selection_policy": "uniform_without_replacement",
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84.hdf5",
+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+      "repository_dirty": true
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
+    "target_policy": {
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_71_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
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+              "slice": [
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+                7
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+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
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+                13
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
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+                21
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+            },
+            {
+              "name": "robot0_gripper_qpos",
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
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+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_71_t0__7ffwlp"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 47,
+    "first_success_step": 47,
+    "first_success_timestep_simulator": 46,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 47
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_71",
+      "initial_condition_id": "demo_71",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_71",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom 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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0745282\" diaginertia=\"2.23796e-05 2.26421e-05 2.10939e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0207324 0.0204759 0.0219451\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0207324 0.0204759 0.0219451\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "b84eaf4dc2274183240445c3a9026cd43173608a8688ed514d7bfbfc4979c177",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
+    "target_policy": {
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_83_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
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+              "slice": [
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+                7
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+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
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+                13
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
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+                21
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+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_83_t0__ihnbok"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 41,
+    "first_success_step": 41,
+    "first_success_timestep_simulator": 40,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 41
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_83",
+      "initial_condition_id": "demo_83",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_83",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom 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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0800395\" diaginertia=\"2.53789e-05 2.46268e-05 2.4366e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0210367 0.0216964 0.0219205\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0210367 0.0216964 0.0219205\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_90_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
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+            }
+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
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+              "name": "object",
+              "slice": [
+                0,
+                10
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+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                10,
+                13
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+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
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+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
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+                21
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+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                25,
+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_90_t0__s6q7d6"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 44,
+    "first_success_step": 44,
+    "first_success_timestep_simulator": 43,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 44
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_90",
+      "initial_condition_id": "demo_90",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_90",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0680325\" diaginertia=\"1.91402e-05 1.90808e-05 1.84944e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0201608 0.0202258 0.0208551\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0201608 0.0202258 0.0208551\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 -1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom 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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.071844\" diaginertia=\"2.06979e-05 2.08436e-05 2.05432e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0207835 0.0206366 0.0209384\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0207835 0.0206366 0.0209384\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "d39b4925cf27406238a341a3b4011e8d73b4b79526fb611976421339036a80cf",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_sha256": "ac9ecd0d91ecd5d0bb7e7667c7d5d96ae29c47caedef7b118903294e195379e0",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_99_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
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+            }
+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                10,
+                13
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
+                17,
+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
+                21,
+                23
+              ]
+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                25,
+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_99_t0__q54uwt"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 49,
+    "first_success_step": 49,
+    "first_success_timestep_simulator": 48,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 49
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_99",
+      "initial_condition_id": "demo_99",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_99",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0738263\" diaginertia=\"2.19004e-05 2.14399e-05 2.1631e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0207398 0.0211862 0.0210021\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0207398 0.0211862 0.0210021\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
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+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
+      "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_30.pth",
+      "train_action_config": {
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/ph_selection_n50_tmax500/model_epoch30_successrate0.9000_n50_tmax500_tmin37_tavg92.50.pth",
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+    "robot0_eye_in_hand_image"
+  ],
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+}
diff --git a/policies/robomimic-ph-visual-only/lift/rollouts/model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12/demo_0/artifact_manifest.json b/policies/robomimic-ph-visual-only/lift/rollouts/model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12/demo_0/artifact_manifest.json
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom 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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0730947\" diaginertia=\"2.10034e-05 2.21784e-05 2.08152e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0212431 0.020076 0.0214241\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0212431 0.020076 0.0214241\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_sha256": "b39671b6b1a33ba40b664aa02b0c2c8b40c6c53b0b28a12577ca7b46d64cef7a",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_105_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
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+                7
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+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+              "name": "object",
+              "slice": [
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+                10
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+            },
+            {
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+              "slice": [
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+                13
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+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
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+                17
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+            },
+            {
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+                21
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+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_105_t0__e9bugd"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 43,
+    "first_success_step": 43,
+    "first_success_timestep_simulator": 42,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 43
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_105",
+      "initial_condition_id": "demo_105",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_105",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "metadata_source": "checkpoint_config_and_action_stats",
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+      "policy_type": "robomimic",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0768744\" diaginertia=\"2.3652e-05 2.24448e-05 2.34675e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0208411 0.0219422 0.0210132\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0208411 0.0219422 0.0210132\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "bc012f22ec535d09b004c48e6305628bfd4de05372d7ff8e177514d6521a0c5b",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+      "repository_dirty": true
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
+    "target_policy": {
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_sha256": "b39671b6b1a33ba40b664aa02b0c2c8b40c6c53b0b28a12577ca7b46d64cef7a",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_117_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
+              ]
+            }
+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                10,
+                13
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
+                17,
+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
+                21,
+                23
+              ]
+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                25,
+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_117_t0__rz468b"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 48,
+    "first_success_step": 48,
+    "first_success_timestep_simulator": 47,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 48
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_117",
+      "initial_condition_id": "demo_117",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_117",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" 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contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </body>\n                      </body>\n                    </body>\n                  </body>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      <site name=\"robot0_right_center\" pos=\"0 0 0\" size=\"0.01\" rgba=\"1 0.3 0.3 1\" group=\"2\" /></body>\n      <body name=\"fixed_mount0_base\" pos=\"0 0 0.01\" gravcomp=\"0\">\n        <body name=\"fixed_mount0_controller_box\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.325 0 -0.38\" mass=\"46.64\" diaginertia=\"1.71363 1.27988 0.809981\" />\n          <geom name=\"fixed_mount0_controller_box_col\" size=\"0.11 0.2 0.265\" pos=\"-0.325 0 -0.38\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal_feet\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"-0.1225 0 -0.758\" mass=\"167.09\" diaginertia=\"8.16095 9.59375 15.0785\" />\n          <geom name=\"fixed_mount0_pedestal_feet_col\" size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0750732\" diaginertia=\"2.22899e-05 2.32892e-05 2.13846e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0211481 0.0201819 0.0219868\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0211481 0.0201819 0.0219868\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "policy_type": "robomimic",
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+      "train_action_config": {
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/config.json",
+      "sha256": "d49a404c611da147b8056edd11b6b37aac79327aafb777c7f663cf33a189288a"
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+  "view_layout": "width_concat",
+  "view_names": [
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+}
diff --git a/policies/robomimic-ph-visual-only/lift/rollouts/model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12/demo_119/artifact_manifest.json b/policies/robomimic-ph-visual-only/lift/rollouts/model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12/demo_119/artifact_manifest.json
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0778877\" diaginertia=\"2.31181e-05 2.40347e-05 2.39146e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0218681 0.0210453 0.021155\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0218681 0.0210453 0.021155\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "38a00999576422876851bc3c3874c38f6762b45d602c55f7b5dc2c694688a2ab",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_sha256": "b39671b6b1a33ba40b664aa02b0c2c8b40c6c53b0b28a12577ca7b46d64cef7a",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_126_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
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+              "slice": [
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+                7
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+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
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+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+              "name": "object",
+              "slice": [
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+                10
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+            },
+            {
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+              "slice": [
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+                13
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+            },
+            {
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+              "slice": [
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+                17
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+            },
+            {
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+                21
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+            },
+            {
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+                23
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+            },
+            {
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+                25
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+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
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+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
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+                39
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+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_126_t0__024k0m"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 46,
+    "first_success_step": 46,
+    "first_success_timestep_simulator": 45,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 46
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_126",
+      "initial_condition_id": "demo_126",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_126",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0740299\" diaginertia=\"2.12497e-05 2.19839e-05 2.20631e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0214923 0.0207886 0.0207114\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0214923 0.0207886 0.0207114\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "policy_type": "robomimic",
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/ph_selection_n50_tmax500/model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12.pth",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0752316\" diaginertia=\"2.26215e-05 2.18584e-05 2.25881e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0208604 0.0215775 0.0208923\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0208604 0.0215775 0.0208923\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "14fa1d9e950a3edcca8012e1ab51b078bc02a366de2bf7afd90569cf5d1e228d",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_sha256": "b39671b6b1a33ba40b664aa02b0c2c8b40c6c53b0b28a12577ca7b46d64cef7a",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_136_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
+              ]
+            }
+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                10,
+                13
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
+                17,
+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
+                21,
+                23
+              ]
+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                25,
+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_136_t0__uy3dxd"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 45,
+    "first_success_step": 45,
+    "first_success_timestep_simulator": 44,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 45
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_136",
+      "initial_condition_id": "demo_136",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_136",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "policy_type": "robomimic",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0733907\" diaginertia=\"2.09094e-05 2.16108e-05 2.18473e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0214677 0.0207893 0.0205554\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0214677 0.0207893 0.0205554\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 -1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_sha256": "b39671b6b1a33ba40b664aa02b0c2c8b40c6c53b0b28a12577ca7b46d64cef7a",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_142_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
+              ]
+            }
+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                10,
+                13
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+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
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+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
+                17,
+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                25,
+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_142_t0__udacoc"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 48,
+    "first_success_step": 48,
+    "first_success_timestep_simulator": 47,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 48
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_142",
+      "initial_condition_id": "demo_142",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_142",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0755755\" diaginertia=\"2.32428e-05 2.17101e-05 2.26999e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0204968 0.0219308 0.021016\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0204968 0.0219308 0.021016\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
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+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "policy_type": "robomimic",
+      "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "train_action_config": {
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/ph_selection_n50_tmax500/model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12.pth",
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/config.json",
+      "sha256": "d49a404c611da147b8056edd11b6b37aac79327aafb777c7f663cf33a189288a"
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+  "view_layout": "width_concat",
+  "view_names": [
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+    "robot0_eye_in_hand_image"
+  ],
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom 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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0798655\" diaginertia=\"2.4517e-05 2.48744e-05 2.46712e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0216812 0.0213694 0.0215473\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0216812 0.0213694 0.0215473\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "2b0f2ed2a18ab04578276f54adac3091ea3d00dbccc682c9d5aaee918e7690f9",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
+    "target_policy": {
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_sha256": "b39671b6b1a33ba40b664aa02b0c2c8b40c6c53b0b28a12577ca7b46d64cef7a",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_153_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
+              ]
+            }
+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                10,
+                13
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
+                17,
+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
+                21,
+                23
+              ]
+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                25,
+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_153_t0__7hpedv"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 41,
+    "first_success_step": 41,
+    "first_success_timestep_simulator": 40,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 41
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_153",
+      "initial_condition_id": "demo_153",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_153",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0706151\" diaginertia=\"2.00863e-05 1.96734e-05 2.06044e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0207101 0.0211293 0.0201717\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0207101 0.0211293 0.0201717\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "5c7fe81e5ddc90d7033a8190725d64ca5675e6a0b147ec9d5d26d7b8250bc249",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_sha256": "b39671b6b1a33ba40b664aa02b0c2c8b40c6c53b0b28a12577ca7b46d64cef7a",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_158_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
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+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                10,
+                13
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
+                17,
+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
+                21,
+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                25,
+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_158_t0__pa7vml"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 42,
+    "first_success_step": 42,
+    "first_success_timestep_simulator": 41,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 42
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_158",
+      "initial_condition_id": "demo_158",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_158",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0734319\" diaginertia=\"2.20514e-05 2.06272e-05 2.18111e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.020407 0.021786 0.0206461\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.020407 0.021786 0.0206461\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "policy_type": "robomimic",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom 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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.074162\" diaginertia=\"2.24541e-05 2.20705e-05 2.10279e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.020434 0.0208103 0.0218001\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.020434 0.0208103 0.0218001\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "74b28d48734e660de11a945067669f5dbcb3356bee9aec9d02093a582b994bcc",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_sha256": "b39671b6b1a33ba40b664aa02b0c2c8b40c6c53b0b28a12577ca7b46d64cef7a",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_163_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
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+            }
+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                10,
+                13
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
+                17,
+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
+                21,
+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                25,
+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_163_t0__79gu13"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 48,
+    "first_success_step": 48,
+    "first_success_timestep_simulator": 47,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 48
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_163",
+      "initial_condition_id": "demo_163",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_163",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0764428\" diaginertia=\"2.31327e-05 2.30228e-05 2.26971e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0210528 0.0211549 0.0214549\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0210528 0.0211549 0.0214549\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "999c34835cd1c8ea5a39df25ea8ff8a2d1c40ab8a88f042ee9dedf71f652e103",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_sha256": "b39671b6b1a33ba40b664aa02b0c2c8b40c6c53b0b28a12577ca7b46d64cef7a",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_171_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
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+              "slice": [
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+                7
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+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+              "name": "object",
+              "slice": [
+                0,
+                10
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+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
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+                13
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+            },
+            {
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+              "slice": [
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+                17
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+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
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+                21
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+            },
+            {
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+              "slice": [
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_171_t0__f2h52t"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 40,
+    "first_success_step": 40,
+    "first_success_timestep_simulator": 39,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 40
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_171",
+      "initial_condition_id": "demo_171",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_171",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom 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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0755649\" diaginertia=\"2.18502e-05 2.30215e-05 2.27242e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0217793 0.0206842 0.0209676\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0217793 0.0206842 0.0209676\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_sha256": "b39671b6b1a33ba40b664aa02b0c2c8b40c6c53b0b28a12577ca7b46d64cef7a",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_180_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
+              ]
+            }
+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                10,
+                13
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
+                17,
+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
+                21,
+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                25,
+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_180_t0__v1segh"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 43,
+    "first_success_step": 43,
+    "first_success_timestep_simulator": 42,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 43
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_180",
+      "initial_condition_id": "demo_180",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_180",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.077204\" diaginertia=\"2.27147e-05 2.31725e-05 2.42041e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0218897 0.0214795 0.0205252\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0218897 0.0214795 0.0205252\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "policy_type": "robomimic",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom 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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0730268\" diaginertia=\"2.17434e-05 2.04807e-05 2.16605e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0204689 0.0216991 0.020552\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0204689 0.0216991 0.020552\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_sha256": "b39671b6b1a33ba40b664aa02b0c2c8b40c6c53b0b28a12577ca7b46d64cef7a",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_35_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
+              ]
+            }
+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                10,
+                13
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+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
+                17,
+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
+                21,
+                23
+              ]
+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                25,
+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_35_t0__rjnecv"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 55,
+    "first_success_step": 55,
+    "first_success_timestep_simulator": 54,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 55
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_35",
+      "initial_condition_id": "demo_35",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_35",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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</body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0719288\" diaginertia=\"2.09284e-05 2.14943e-05 1.99034e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0206607 0.0200815 0.0216706\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0206607 0.0200815 0.0216706\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "policy_type": "robomimic",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom 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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0732011\" diaginertia=\"2.07037e-05 2.14256e-05 2.19959e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.021576 0.0208791 0.0203117\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.021576 0.0208791 0.0203117\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_sha256": "b39671b6b1a33ba40b664aa02b0c2c8b40c6c53b0b28a12577ca7b46d64cef7a",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_54_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
+              "name": "action",
+              "slice": [
+                0,
+                7
+              ]
+            }
+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                10,
+                13
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
+                17,
+                21
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
+                21,
+                23
+              ]
+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                23,
+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                25,
+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_54_t0__bl0i7o"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 38,
+    "first_success_step": 38,
+    "first_success_timestep_simulator": 37,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 38
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
+                  -0.05,
+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_54",
+      "initial_condition_id": "demo_54",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_54",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link0.stl\" />\n    <mesh name=\"robot0_link1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link1.stl\" />\n    <mesh name=\"robot0_link2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link2.stl\" />\n    <mesh name=\"robot0_link3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link3.stl\" />\n    <mesh name=\"robot0_link4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link4.stl\" />\n    <mesh name=\"robot0_link5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link5.stl\" />\n    <mesh name=\"robot0_link6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link6.stl\" />\n    <mesh name=\"robot0_link7\" 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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "policy_type": "robomimic",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0738395\" diaginertia=\"2.1902e-05 2.08914e-05 2.22809e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0207868 0.021752 0.0204132\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0207868 0.021752 0.0204132\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "5126bffe842c0f7d9931a9a20293821d6523a02484d7729515aaf254e1d395bf",
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+        "state_sha256": "5f7e172d8218b579a1bf41c56e8bc302bdb92e0393d6e8172fb7756912651943"
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
+    "target_policy": {
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_sha256": "b39671b6b1a33ba40b664aa02b0c2c8b40c6c53b0b28a12577ca7b46d64cef7a",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+            "robot0_eye_in_hand_image"
+          ]
+        }
+      },
+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_65_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
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+              "slice": [
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+                7
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+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
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+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+              "name": "object",
+              "slice": [
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+                10
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+            },
+            {
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+              "slice": [
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+                13
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+            {
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+              "slice": [
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+                17
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+            },
+            {
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+                21
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+            },
+            {
+              "name": "robot0_gripper_qpos",
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                25
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+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
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+                39
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+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
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+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
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+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_65_t0__tk7mij"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 34,
+    "first_success_step": 34,
+    "first_success_timestep_simulator": 33,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 34
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_65",
+      "initial_condition_id": "demo_65",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_65",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "policy_type": "robomimic",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0758234\" diaginertia=\"2.32299e-05 2.29691e-05 2.18154e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.0206497 0.0208981 0.021963\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.0206497 0.0208981 0.021963\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "84855f8d3dd21933a5e25d3953c3aed3ee99c5e639aa99c0f89b07c29abcce20",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_sha256": "b39671b6b1a33ba40b664aa02b0c2c8b40c6c53b0b28a12577ca7b46d64cef7a",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
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/>\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+      "reporting": {
+        "fixed_horizon": true,
+        "initial_condition": {
+          "label": "demo_72_t0"
+        }
+      },
+      "signals": {
+        "actions": {
+          "dimensions": [
+            {
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+              "slice": [
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+                7
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+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
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+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                10
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
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+                13
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                13,
+                17
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+            },
+            {
+              "name": "robot0_eef_quat_site",
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+                21
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+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
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+                23
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                25
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                32
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                32,
+                39
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                39,
+                46
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                46,
+                53
+              ]
+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_72_t0__za8ye9"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 33,
+    "first_success_step": 33,
+    "first_success_timestep_simulator": 32,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 33
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
+                  0.05,
+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
+                ],
+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "Lift",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495224"
+    },
+    "execution_policy_id": "model_epoch500_successrate1.0000_n50_tmax500_tmin33_tavg44.12",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_72",
+      "initial_condition_id": "demo_72",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_72",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "policy_type": "robomimic",
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+}
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/meshes/link7.stl\" />\n    <mesh name=\"robot0_link0_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_0.obj\" />\n    <mesh name=\"robot0_link0_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_1.obj\" />\n    <mesh name=\"robot0_link0_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_2.obj\" />\n    <mesh name=\"robot0_link0_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_3.obj\" />\n    <mesh name=\"robot0_link0_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_4.obj\" />\n    <mesh name=\"robot0_link0_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_5.obj\" />\n    <mesh name=\"robot0_link0_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_6.obj\" />\n    <mesh name=\"robot0_link0_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_7.obj\" />\n    <mesh name=\"robot0_link0_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_8.obj\" />\n    <mesh name=\"robot0_link0_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_9.obj\" />\n    <mesh name=\"robot0_link0_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_10.obj\" />\n    <mesh name=\"robot0_link0_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link0_vis/link0_vis_11.obj\" />\n    <mesh name=\"robot0_link1_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link1_vis/link1_vis.obj\" />\n    <mesh name=\"robot0_link2_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link2_vis/link2_vis.obj\" />\n    <mesh name=\"robot0_link3_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_0.obj\" />\n    <mesh name=\"robot0_link3_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_1.obj\" />\n    <mesh name=\"robot0_link3_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_2.obj\" />\n    <mesh name=\"robot0_link3_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link3_vis/link3_vis_3.obj\" />\n    <mesh name=\"robot0_link4_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_0.obj\" />\n    <mesh name=\"robot0_link4_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_1.obj\" />\n    <mesh name=\"robot0_link4_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_2.obj\" />\n    <mesh name=\"robot0_link4_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link4_vis/link4_vis_3.obj\" />\n    <mesh name=\"robot0_link5_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_0.obj\" />\n    <mesh name=\"robot0_link5_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_1.obj\" />\n    <mesh name=\"robot0_link5_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link5_vis/link5_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_0.obj\" />\n    <mesh name=\"robot0_link6_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_1.obj\" />\n    <mesh name=\"robot0_link6_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_2.obj\" />\n    <mesh name=\"robot0_link6_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_3.obj\" />\n    <mesh name=\"robot0_link6_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_4.obj\" />\n    <mesh name=\"robot0_link6_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_5.obj\" />\n    <mesh name=\"robot0_link6_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_6.obj\" />\n    <mesh name=\"robot0_link6_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_7.obj\" />\n    <mesh name=\"robot0_link6_vis_8\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_8.obj\" />\n    <mesh name=\"robot0_link6_vis_9\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_9.obj\" />\n    <mesh name=\"robot0_link6_vis_10\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_10.obj\" />\n    <mesh name=\"robot0_link6_vis_11\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_11.obj\" />\n    <mesh name=\"robot0_link6_vis_12\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_12.obj\" />\n    <mesh name=\"robot0_link6_vis_13\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_13.obj\" />\n    <mesh name=\"robot0_link6_vis_14\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_14.obj\" />\n    <mesh name=\"robot0_link6_vis_15\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_15.obj\" />\n    <mesh name=\"robot0_link6_vis_16\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_16.obj\" />\n    <mesh name=\"robot0_link7_vis_0\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj\" />\n    <mesh name=\"robot0_link7_vis_1\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_1.obj\" />\n    <mesh name=\"robot0_link7_vis_2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_2.obj\" />\n    <mesh name=\"robot0_link7_vis_3\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_3.obj\" />\n    <mesh name=\"robot0_link7_vis_4\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_4.obj\" />\n    <mesh name=\"robot0_link7_vis_5\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj\" />\n    <mesh name=\"robot0_link7_vis_6\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj\" />\n    <mesh name=\"robot0_link7_vis_7\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj\" />\n    <mesh name=\"fixed_mount0_pedestal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/bases/meshes/rethink_mount/pedestal.stl\" />\n    <mesh name=\"gripper0_right_hand\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl\" />\n    <mesh name=\"gripper0_right_hand_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl\" />\n    <mesh name=\"gripper0_right_finger\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl\" />\n    <mesh name=\"gripper0_right_finger_vis\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl\" />\n    <mesh name=\"gripper0_right_finger_vis2\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl\" />\n  </asset>\n  <worldbody>\n    <geom name=\"floor\" size=\"3 3 0.125\" type=\"plane\" group=\"1\" material=\"floorplane\" />\n    <geom name=\"wall_leftcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 2.25 1.5\" quat=\"0.653281 0.653281 0.270598 0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rightcorner_visual\" size=\"1.06 1.5 0.01\" pos=\"-1.25 -2.25 1.5\" quat=\"0.653281 0.653281 -0.270598 -0.270598\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_left_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 3 1.5\" quat=\"0.707107 0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_right_visual\" size=\"1.75 1.5 0.01\" pos=\"1.25 -3 1.5\" quat=\"0.707107 -0.707107 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_rear_visual\" size=\"1.5 1.5 0.01\" pos=\"-2 0 1.5\" quat=\"0.5 0.5 0.5 0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <geom name=\"wall_front_visual\" size=\"3 1.5 0.01\" pos=\"3 0 1.5\" quat=\"0.5 0.5 -0.5 -0.5\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"walls_mat\" />\n    <camera name=\"frontview\" pos=\"1.6 0 1.45\" quat=\"0.560842 0.430646 0.430646 0.560842\" />\n    <camera name=\"birdview\" pos=\"-0.2 0 3\" quat=\"0.707107 0 0 0.707107\" />\n    <camera name=\"agentview\" pos=\"0.5 0 1.35\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <camera name=\"sideview\" pos=\"-0.0565177 1.27612 1.48796\" quat=\"0.00990507 0.00687796 0.591223 0.806418\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"table\" pos=\"0 0 0.775\" gravcomp=\"0\">\n      <geom name=\"table_collision\" size=\"0.4 0.4 0.025\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom name=\"table_visual\" size=\"0.4 0.4 0.025\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_ceramic\" />\n      <geom name=\"table_leg1_visual\" size=\"0.025 0.3875\" pos=\"0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3875\" pos=\"-0.3 0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3875\" pos=\"-0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3875\" pos=\"0.3 -0.3 -0.3875\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <site name=\"table_top\" pos=\"0 0 0.025\" size=\"0.001\" rgba=\"0 0 0 0\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.56 0 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom 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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"cube_main\" pos=\"0 0 0\">\n            <inertial pos=\"0 0 0\" mass=\"0.0760344\" diaginertia=\"2.25976e-05 2.23452e-05 2.33362e-05\" />\n            <joint name=\"cube_joint0\" type=\"free\" />\n            <geom name=\"cube_g0\" size=\"0.02134 0.0215721 0.0206459\" type=\"box\" rgba=\"0.5 0 0 1\" />\n            <geom name=\"cube_g0_vis\" size=\"0.02134 0.0215721 0.0206459\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"cube_redwood_mat\" />\n            <site name=\"cube_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 1\" />\n        </body>\n    </worldbody>\n  <actuator>\n    <general name=\"robot0_torq_j1\" joint=\"robot0_joint1\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j2\" joint=\"robot0_joint2\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j3\" joint=\"robot0_joint3\" ctrlrange=\"-80 80\" actdim=\"0\" />\n    <general name=\"robot0_torq_j4\" 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site=\"gripper0_right_ft_frame\" name=\"gripper0_right_torque_ee\" />\n  </sensor>\n</mujoco>",
+        "model_sha256": "853b5328e92fd4467d133378dc84fc02bd8d58d9395c76b55c2d0fdf58505458",
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+      "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/lift/ph/image_v15_success200_total200_84x84_manifest.json",
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+    "simulation_run_id": "ph_selection_lift_n50_tmax500_s0__2c6f6bd6c934",
+    "target_policy": {
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
+      "checkpoint_sha256": "b39671b6b1a33ba40b664aa02b0c2c8b40c6c53b0b28a12577ca7b46d64cef7a",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/lift/seed_0/models/intermediate/model_epoch_500.pth",
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+}