Add RoboMimic PH visual-only policies (part 11)

Add 30 Can, Lift, and Square PH visual-only checkpoints, paired rollouts, and PH50 initial-condition HDF5 files.

policies/robomimic-ph-visual-only/square/rollouts/model_epoch140_successrate0.3600_n50_tmax500_tmin111_tavg376.96/demo_10/trajectory.json

@@ -0,0 +1,561 @@
+{
+  "action_count": 500,
+  "decoded_images_persisted": false,
+  "episode_seed": 3097132512,
+  "execution_protocol": "robomimic_native_success_terminating",
+  "frame_action_ownership": "frame_t_owns_action_t",
+  "frame_count": 500,
+  "frame_timing": "post_step",
+  "identity": {
+    "directory_metadata": {
+      "fingerprint.backend_id": "robomimic_sim",
+      "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__hzmbkh",
+      "fingerprint.dynamics.dynamics_id": "robomimic_sim__9po7wywibd",
+      "fingerprint.target_policy.target_policy_id": "model_epoch140_successrate0.3600_n50_tmax500_tmin111_tavg376.96"
+    },
+    "directory_prefix_fields": [
+      "fingerprint.backend_id",
+      "fingerprint.dynamics.dynamics_id",
+      "fingerprint.behavior_data.behavior_data_id",
+      "fingerprint.target_policy.target_policy_id"
+    ],
+    "fingerprint_hash": "axwd53",
+    "id_key": "robomimic_sim/robomimic_sim__9po7wywibd/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__hzmbkh/model_epoch140_successrate0.3600_n50_tmax500_tmin111_tavg376.96/demo_10_t0__axwd53",
+    "metadata": {
+      "extras": {
+        "metadata_sources": {
+          "environment": "Robomimic behavior dataset env_args",
+          "initial_condition": "rollout initial_condition payload",
+          "policy": "OPEPolicy attributes and optional policy.metadata",
+          "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays"
+        }
+      },
+      "fingerprint": {
+        "backend_id": "robomimic_sim",
+        "behavior_data": {
+          "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__hzmbkh",
+          "behavior_policy": {
+            "behavior_policy_id": "none",
+            "enabled": false
+          },
+          "dataset_id": "image_v15_success200_total200_84x84",
+          "enabled": true,
+          "seed": 0,
+          "selection_policy": "uniform_without_replacement",
+          "source_path": "data/robomimic/square/ph/image_v15_success200_total200_84x84.hdf5",
+          "split": "all"
+        },
+        "dynamics": {
+          "action_dim": 7,
+          "backend": "robomimic_sim",
+          "dataset_id": "image_v15_success200_total200_84x84",
+          "dataset_path": "data/robomimic/square/ph/image_v15_success200_total200_84x84.hdf5",
+          "dynamics_id": "robomimic_sim__9po7wywibd",
+          "env_config_hash": "tg9u7rsn14",
+          "execution_protocol": "robomimic_native_success_terminating",
+          "low_dim_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"
+          ],
+          "state_dim": 57,
+          "state_representation": "low_dim",
+          "wrapper_checkpoint_id": null,
+          "wrapper_checkpoint_path": null
+        },
+        "environment": {
+          "dataset_id": "image_v15_success200_total200_84x84",
+          "dataset_path": "data/robomimic/square/ph/image_v15_success200_total200_84x84.hdf5",
+          "env_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,
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+                      -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": "NutAssemblySquare",
+            "env_version": "1.5.2",
+            "type": 1
+          },
+          "env_name": "NutAssemblySquare",
+          "robosuite_version": "1.5.2",
+          "task": "NutAssemblySquare",
+          "type": "robomimic",
+          "wrapper_checkpoint_id": null,
+          "wrapper_checkpoint_path": null
+        },
+        "initial_condition": {
+          "data_split_digest": null,
+          "end_timestep": null,
+          "episode_id": "demo_10",
+          "initial_condition_source": null,
+          "inline_simulator_state_hash": null,
+          "label": "demo_10_t0",
+          "replay_state_ref": null,
+          "simulator_state_ref": null,
+          "start_timestep": 0
+        },
+        "policy_experiment_config": {
+          "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/square/branches/continuation_seed0_epoch100_0fe9489f4b99/config.json",
+          "sha256": "664fd47f910bb5342fc3be170ab1a57c5c6dcd556000514d0511c07a2f789054"
+        },
+        "rollout": {
+          "action_space": "raw",
+          "execution_protocol": "robomimic_native_success_terminating",
+          "horizon": 500,
+          "method": "simulator",
+          "policy_horizons": {
+            "action_horizon": 1,
+            "observation_horizon": 2,
+            "prediction_horizon": 16
+          },
+          "representation": "low_dim",
+          "seed": 3097132512,
+          "seed_pairing": "paired_by_initial_condition",
+          "state_convention": "post_action_successor_observation",
+          "success_convention": "terminate_on_first_post_action_success",
+          "success_source": "robosuite_env.is_success.task",
+          "termination_convention": "terminate_on_first_success_fail_on_env_done"
+        },
+        "target_policy": {
+          "action_output_space": "raw",
+          "checkpoint_path": "data/policy/robomimic-ph-visual-only/publish_ready/square/checkpoints/model_epoch140_successrate0.3600_n50_tmax500_tmin111_tavg376.96.pth",
+          "checkpoint_sha256": "7c7a63054196c0db6ff64ca291c7ff685ae9fc2372650342403cfc1853a50573",
+          "enabled": true,
+          "role": "target",
+          "target_policy_id": "model_epoch140_successrate0.3600_n50_tmax500_tmin111_tavg376.96",
+          "type": "robomimic",
+          "wrapper": {
+            "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_10_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,
+                14
+              ]
+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                14,
+                17
+              ]
+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                17,
+                21
+              ]
+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
+                21,
+                25
+              ]
+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
+                25,
+                27
+              ]
+            },
+            {
+              "name": "robot0_gripper_qvel",
+              "slice": [
+                27,
+                29
+              ]
+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
+                29,
+                36
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                36,
+                43
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                43,
+                50
+              ]
+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                50,
+                57
+              ]
+            }
+          ],
+          "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__axwd53"
+  },
+  "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_epoch140_successrate0.3600_n50_tmax500_tmin111_tavg376.96",
+  "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": "NutAssemblySquare",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505456"
+    },
+    "execution_policy_id": "model_epoch140_successrate0.3600_n50_tmax500_tmin111_tavg376.96",
+    "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",
+        "model_file": "<?xml version='1.0' encoding='utf8'?>\n<mujoco model=\"base\">\n  <compiler angle=\"radian\" meshdir=\"meshes/\" autolimits=\"true\" />\n  <option impratio=\"20\" density=\"1.2\" viscosity=\"2e-05\" cone=\"elliptic\" />\n  <size njmax=\"5000\" nconmax=\"5000\" />\n  <visual>\n    <map znear=\"0.001\" />\n  </visual>\n  <default />\n  <asset>\n    <texture type=\"skybox\" builtin=\"gradient\" rgb1=\"0.9 0.9 1\" rgb2=\"0.2 0.3 0.4\" width=\"256\" height=\"1536\" />\n    <texture type=\"2d\" name=\"texplane\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/arenas/../textures/light-gray-floor-tile.png\" />\n    <texture type=\"cube\" name=\"steel-metal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/arenas/../textures/steel-scratched.png\" />\n    <texture type=\"cube\" name=\"brass-metal\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/arenas/../textures/brass-ambra.png\" />\n    <texture type=\"cube\" 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rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring004_004_002\" shininess=\"0.45\" />\n    <material name=\"robot0_Part__Mirroring005_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring006_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring007_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring_004_001\" shininess=\"0.45\" rgba=\"0.898039 0.917647 0.929412 1\" />\n    <material name=\"SquareNut_bmetal\" texture=\"SquareNut_brass-metal\" texuniform=\"true\" specular=\"1\" shininess=\"1\" reflectance=\"1\" />\n    <material name=\"RoundNut_smetal\" texture=\"RoundNut_steel-metal\" texuniform=\"true\" specular=\"1\" shininess=\"1\" reflectance=\"1\" />\n    <mesh name=\"robot0_link0\" 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\" 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 0.795\" 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 0.3975\" pos=\"0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3975\" pos=\"-0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3975\" pos=\"-0.3 -0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3975\" pos=\"0.3 -0.3 -0.3975\" 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=\"peg1\" pos=\"0.23 0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"bmetal\" />\n    </body>\n    <body name=\"peg2\" pos=\"0.23 -0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.02 0.1\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.02 0.1\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"smetal\" />\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=\"SquareNut_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"SquareNut_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"SquareNut_g0\" size=\"0.0105 0.04375 0.01\" pos=\"-0.03325 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.2\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g1\" size=\"0.03125 0.0105 0.01\" pos=\"0 0.03325 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g2\" 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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 0.795\" 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 0.3975\" pos=\"0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3975\" pos=\"-0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3975\" pos=\"-0.3 -0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3975\" pos=\"0.3 -0.3 -0.3975\" 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=\"peg1\" pos=\"0.23 0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"bmetal\" />\n    </body>\n    <body name=\"peg2\" pos=\"0.23 -0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.02 0.1\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.02 0.1\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"smetal\" />\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=\"SquareNut_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"SquareNut_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"SquareNut_g0\" size=\"0.0105 0.04375 0.01\" pos=\"-0.03325 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.2\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g1\" size=\"0.03125 0.0105 0.01\" pos=\"0 0.03325 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g2\" size=\"0.03125 0.0105 0.01\" pos=\"0 -0.03325 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g3\" size=\"0.0105 0.04375 0.01\" pos=\"0.03325 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g4\" size=\"0.02525 0.015875 0.01\" pos=\"0.054 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g0_visual\" size=\"0.0105 0.04375 0.01\" pos=\"-0.03325 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.2\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g1_visual\" size=\"0.03125 0.0105 0.01\" pos=\"0 0.03325 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g2_visual\" size=\"0.03125 0.0105 0.01\" pos=\"0 -0.03325 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g3_visual\" size=\"0.0105 0.04375 0.01\" pos=\"0.03325 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g4_visual\" size=\"0.02525 0.015875 0.01\" pos=\"0.054 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <site name=\"SquareNut_handle_site\" pos=\"0.054 0 0\" rgba=\"1 0 0 -1\" />\n      <site name=\"SquareNut_center_site\" pos=\"0 0 0\" size=\"0.003\" rgba=\"1 0 0 -1\" />\n      <site name=\"SquareNut_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"RoundNut_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"RoundNut_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"RoundNut_g0\" size=\"0.01125 0.0225 0.01\" pos=\"-0.04245 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g1\" size=\"0.01125 0.0225 0.01\" pos=\"0.04245 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g2\" size=\"0.0225 0.01125 0.01\" pos=\"0 -0.04245 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g3\" size=\"0.0225 0.01125 0.01\" pos=\"0 0.04245 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g4\" size=\"0.01125 0.0225 0.01\" pos=\"-0.03 -0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g5\" size=\"0.01125 0.0225 0.01\" pos=\"0.03 0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g6\" size=\"0.0225 0.01125 0.01\" pos=\"0.03 -0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g7\" size=\"0.0225 0.01125 0.01\" pos=\"-0.03 0.03 0\" 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+          "source": "robomimic_env_render",
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+          "report_regimes_source": "src.eval_ope.rewards"
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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_111_t0__g6gscm"
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+    "observation_horizon": 2,
+    "prediction_horizon": 16
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+  "policy_id": "model_epoch140_successrate0.3600_n50_tmax500_tmin111_tavg376.96",
+  "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"
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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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+                  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,
+                  -0.5,
+                  -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": "NutAssemblySquare",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505456"
+    },
+    "execution_policy_id": "model_epoch140_successrate0.3600_n50_tmax500_tmin111_tavg376.96",
+    "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_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 0.795\" 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 0.3975\" pos=\"0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3975\" pos=\"-0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3975\" pos=\"-0.3 -0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3975\" pos=\"0.3 -0.3 -0.3975\" 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=\"peg1\" pos=\"0.23 0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"bmetal\" />\n    </body>\n    <body name=\"peg2\" pos=\"0.23 -0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.02 0.1\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.02 0.1\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"smetal\" />\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 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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=\"SquareNut_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"SquareNut_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"SquareNut_g0\" size=\"0.0105 0.04375 0.01\" pos=\"-0.03325 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.2\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g1\" size=\"0.03125 0.0105 0.01\" pos=\"0 0.03325 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g2\" size=\"0.03125 0.0105 0.01\" pos=\"0 -0.03325 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g3\" size=\"0.0105 0.04375 0.01\" pos=\"0.03325 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g4\" size=\"0.02525 0.015875 0.01\" pos=\"0.054 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g0_visual\" size=\"0.0105 0.04375 0.01\" pos=\"-0.03325 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.2\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g1_visual\" size=\"0.03125 0.0105 0.01\" pos=\"0 0.03325 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g2_visual\" size=\"0.03125 0.0105 0.01\" pos=\"0 -0.03325 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g3_visual\" size=\"0.0105 0.04375 0.01\" pos=\"0.03325 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g4_visual\" size=\"0.02525 0.015875 0.01\" pos=\"0.054 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <site name=\"SquareNut_handle_site\" pos=\"0.054 0 0\" rgba=\"1 0 0 -1\" />\n      <site name=\"SquareNut_center_site\" pos=\"0 0 0\" size=\"0.003\" rgba=\"1 0 0 -1\" />\n      <site name=\"SquareNut_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"RoundNut_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"RoundNut_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"RoundNut_g0\" size=\"0.01125 0.0225 0.01\" pos=\"-0.04245 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g1\" size=\"0.01125 0.0225 0.01\" pos=\"0.04245 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g2\" size=\"0.0225 0.01125 0.01\" pos=\"0 -0.04245 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g3\" size=\"0.0225 0.01125 0.01\" pos=\"0 0.04245 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g4\" size=\"0.01125 0.0225 0.01\" pos=\"-0.03 -0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g5\" size=\"0.01125 0.0225 0.01\" pos=\"0.03 0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g6\" size=\"0.0225 0.01125 0.01\" pos=\"0.03 -0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g7\" size=\"0.0225 0.01125 0.01\" pos=\"-0.03 0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g8\" size=\"0.02525 0.015875 0.01\" pos=\"0.06 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g0_visual\" size=\"0.01125 0.0225 0.01\" pos=\"-0.04245 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g1_visual\" size=\"0.01125 0.0225 0.01\" pos=\"0.04245 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g2_visual\" size=\"0.0225 0.01125 0.01\" pos=\"0 -0.04245 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g3_visual\" size=\"0.0225 0.01125 0.01\" pos=\"0 0.04245 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g4_visual\" size=\"0.01125 0.0225 0.01\" pos=\"-0.03 -0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g5_visual\" size=\"0.01125 0.0225 0.01\" pos=\"0.03 0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g6_visual\" size=\"0.0225 0.01125 0.01\" pos=\"0.03 -0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g7_visual\" size=\"0.0225 0.01125 0.01\" pos=\"-0.03 0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g8_visual\" size=\"0.02525 0.015875 0.01\" pos=\"0.06 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <site name=\"RoundNut_handle_site\" pos=\"0.06 0 0\" rgba=\"1 0 0 -1\" />\n      <site name=\"RoundNut_center_site\" pos=\"0 0 0\" size=\"0.003\" rgba=\"1 0 0 -1\" />\n      <site name=\"RoundNut_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\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>",
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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 0.795\" 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 0.3975\" pos=\"0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3975\" pos=\"-0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3975\" pos=\"-0.3 -0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3975\" pos=\"0.3 -0.3 -0.3975\" 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=\"peg1\" pos=\"0.23 0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"bmetal\" />\n    </body>\n    <body name=\"peg2\" pos=\"0.23 -0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.02 0.1\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.02 0.1\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"smetal\" />\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 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rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring004_004_002\" shininess=\"0.45\" />\n    <material name=\"robot0_Part__Mirroring005_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring006_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring007_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring_004_001\" shininess=\"0.45\" rgba=\"0.898039 0.917647 0.929412 1\" />\n    <material name=\"SquareNut_bmetal\" texture=\"SquareNut_brass-metal\" texuniform=\"true\" specular=\"1\" shininess=\"1\" reflectance=\"1\" />\n    <material name=\"RoundNut_smetal\" texture=\"RoundNut_steel-metal\" texuniform=\"true\" specular=\"1\" shininess=\"1\" reflectance=\"1\" />\n    <mesh name=\"robot0_link0\" 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\" 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 0.795\" 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 0.3975\" pos=\"0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3975\" pos=\"-0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3975\" pos=\"-0.3 -0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3975\" pos=\"0.3 -0.3 -0.3975\" 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=\"peg1\" pos=\"0.23 0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"bmetal\" />\n    </body>\n    <body name=\"peg2\" pos=\"0.23 -0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.02 0.1\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.02 0.1\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"smetal\" />\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=\"SquareNut_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"SquareNut_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"SquareNut_g0\" size=\"0.0105 0.04375 0.01\" pos=\"-0.03325 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.2\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g1\" size=\"0.03125 0.0105 0.01\" pos=\"0 0.03325 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g2\" 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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 0.795\" 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 0.3975\" pos=\"0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3975\" pos=\"-0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3975\" pos=\"-0.3 -0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3975\" pos=\"0.3 -0.3 -0.3975\" 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=\"peg1\" pos=\"0.23 0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"bmetal\" />\n    </body>\n    <body name=\"peg2\" pos=\"0.23 -0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.02 0.1\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.02 0.1\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"smetal\" />\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=\"SquareNut_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"SquareNut_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"SquareNut_g0\" size=\"0.0105 0.04375 0.01\" pos=\"-0.03325 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.2\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g1\" size=\"0.03125 0.0105 0.01\" pos=\"0 0.03325 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g2\" size=\"0.03125 0.0105 0.01\" pos=\"0 -0.03325 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g3\" size=\"0.0105 0.04375 0.01\" pos=\"0.03325 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g4\" size=\"0.02525 0.015875 0.01\" pos=\"0.054 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g0_visual\" size=\"0.0105 0.04375 0.01\" pos=\"-0.03325 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.2\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g1_visual\" size=\"0.03125 0.0105 0.01\" pos=\"0 0.03325 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g2_visual\" size=\"0.03125 0.0105 0.01\" pos=\"0 -0.03325 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g3_visual\" size=\"0.0105 0.04375 0.01\" pos=\"0.03325 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g4_visual\" size=\"0.02525 0.015875 0.01\" pos=\"0.054 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <site name=\"SquareNut_handle_site\" pos=\"0.054 0 0\" rgba=\"1 0 0 -1\" />\n      <site name=\"SquareNut_center_site\" pos=\"0 0 0\" size=\"0.003\" rgba=\"1 0 0 -1\" />\n      <site name=\"SquareNut_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"RoundNut_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"RoundNut_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"RoundNut_g0\" size=\"0.01125 0.0225 0.01\" pos=\"-0.04245 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g1\" size=\"0.01125 0.0225 0.01\" pos=\"0.04245 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g2\" size=\"0.0225 0.01125 0.01\" pos=\"0 -0.04245 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g3\" size=\"0.0225 0.01125 0.01\" pos=\"0 0.04245 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g4\" size=\"0.01125 0.0225 0.01\" pos=\"-0.03 -0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g5\" size=\"0.01125 0.0225 0.01\" pos=\"0.03 0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g6\" size=\"0.0225 0.01125 0.01\" pos=\"0.03 -0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g7\" size=\"0.0225 0.01125 0.01\" pos=\"-0.03 0.03 0\" 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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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+            {
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+            {
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+              "slice": [
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+                21
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+            {
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+                25
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+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
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+                27
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+            {
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+                29
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+            },
+            {
+              "name": "robot0_joint_pos",
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+                36
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+            },
+            {
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+            },
+            {
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+              "slice": [
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+            {
+              "name": "robot0_joint_vel",
+              "slice": [
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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_123_t0__b85zho"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 126,
+    "first_success_step": 126,
+    "first_success_timestep_simulator": 125,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 126
+  },
+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch140_successrate0.3600_n50_tmax500_tmin111_tavg376.96",
+  "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": "NutAssemblySquare",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505456"
+    },
+    "execution_policy_id": "model_epoch140_successrate0.3600_n50_tmax500_tmin111_tavg376.96",
+    "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_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 0.795\" 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 0.3975\" pos=\"0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3975\" pos=\"-0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3975\" pos=\"-0.3 -0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3975\" pos=\"0.3 -0.3 -0.3975\" 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=\"peg1\" pos=\"0.23 0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"bmetal\" />\n    </body>\n    <body name=\"peg2\" pos=\"0.23 -0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.02 0.1\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.02 0.1\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"smetal\" />\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 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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=\"SquareNut_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"SquareNut_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"SquareNut_g0\" size=\"0.0105 0.04375 0.01\" pos=\"-0.03325 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.2\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g1\" size=\"0.03125 0.0105 0.01\" pos=\"0 0.03325 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g2\" size=\"0.03125 0.0105 0.01\" pos=\"0 -0.03325 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g3\" size=\"0.0105 0.04375 0.01\" pos=\"0.03325 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g4\" size=\"0.02525 0.015875 0.01\" pos=\"0.054 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g0_visual\" size=\"0.0105 0.04375 0.01\" pos=\"-0.03325 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.2\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g1_visual\" size=\"0.03125 0.0105 0.01\" pos=\"0 0.03325 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g2_visual\" size=\"0.03125 0.0105 0.01\" pos=\"0 -0.03325 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g3_visual\" size=\"0.0105 0.04375 0.01\" pos=\"0.03325 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g4_visual\" size=\"0.02525 0.015875 0.01\" pos=\"0.054 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <site name=\"SquareNut_handle_site\" pos=\"0.054 0 0\" rgba=\"1 0 0 -1\" />\n      <site name=\"SquareNut_center_site\" pos=\"0 0 0\" size=\"0.003\" rgba=\"1 0 0 -1\" />\n      <site name=\"SquareNut_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"RoundNut_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"RoundNut_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"RoundNut_g0\" size=\"0.01125 0.0225 0.01\" pos=\"-0.04245 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g1\" size=\"0.01125 0.0225 0.01\" pos=\"0.04245 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g2\" size=\"0.0225 0.01125 0.01\" pos=\"0 -0.04245 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g3\" size=\"0.0225 0.01125 0.01\" pos=\"0 0.04245 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g4\" size=\"0.01125 0.0225 0.01\" pos=\"-0.03 -0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g5\" size=\"0.01125 0.0225 0.01\" pos=\"0.03 0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g6\" size=\"0.0225 0.01125 0.01\" pos=\"0.03 -0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g7\" size=\"0.0225 0.01125 0.01\" pos=\"-0.03 0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g8\" size=\"0.02525 0.015875 0.01\" pos=\"0.06 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g0_visual\" size=\"0.01125 0.0225 0.01\" pos=\"-0.04245 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g1_visual\" size=\"0.01125 0.0225 0.01\" pos=\"0.04245 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g2_visual\" size=\"0.0225 0.01125 0.01\" pos=\"0 -0.04245 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g3_visual\" size=\"0.0225 0.01125 0.01\" pos=\"0 0.04245 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g4_visual\" size=\"0.01125 0.0225 0.01\" pos=\"-0.03 -0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g5_visual\" size=\"0.01125 0.0225 0.01\" pos=\"0.03 0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g6_visual\" size=\"0.0225 0.01125 0.01\" pos=\"0.03 -0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g7_visual\" size=\"0.0225 0.01125 0.01\" pos=\"-0.03 0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g8_visual\" size=\"0.02525 0.015875 0.01\" pos=\"0.06 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <site name=\"RoundNut_handle_site\" pos=\"0.06 0 0\" rgba=\"1 0 0 -1\" />\n      <site name=\"RoundNut_center_site\" pos=\"0 0 0\" size=\"0.003\" rgba=\"1 0 0 -1\" />\n      <site name=\"RoundNut_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\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\" 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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 0.795\" 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 0.3975\" pos=\"0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3975\" pos=\"-0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3975\" pos=\"-0.3 -0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3975\" pos=\"0.3 -0.3 -0.3975\" 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=\"peg1\" pos=\"0.23 0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"bmetal\" />\n    </body>\n    <body name=\"peg2\" pos=\"0.23 -0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.02 0.1\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.02 0.1\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"smetal\" />\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 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rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring004_004_002\" shininess=\"0.45\" />\n    <material name=\"robot0_Part__Mirroring005_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring006_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring007_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring_004_001\" shininess=\"0.45\" rgba=\"0.898039 0.917647 0.929412 1\" />\n    <material name=\"SquareNut_bmetal\" texture=\"SquareNut_brass-metal\" texuniform=\"true\" specular=\"1\" shininess=\"1\" reflectance=\"1\" />\n    <material name=\"RoundNut_smetal\" texture=\"RoundNut_steel-metal\" texuniform=\"true\" specular=\"1\" shininess=\"1\" reflectance=\"1\" />\n    <mesh name=\"robot0_link0\" 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\" 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 0.795\" 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 0.3975\" pos=\"0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3975\" pos=\"-0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3975\" pos=\"-0.3 -0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3975\" pos=\"0.3 -0.3 -0.3975\" 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=\"peg1\" pos=\"0.23 0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"bmetal\" />\n    </body>\n    <body name=\"peg2\" pos=\"0.23 -0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.02 0.1\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.02 0.1\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"smetal\" />\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=\"SquareNut_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"SquareNut_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"SquareNut_g0\" size=\"0.0105 0.04375 0.01\" pos=\"-0.03325 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.2\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g1\" size=\"0.03125 0.0105 0.01\" pos=\"0 0.03325 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g2\" 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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 0.795\" 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 0.3975\" pos=\"0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3975\" pos=\"-0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3975\" pos=\"-0.3 -0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3975\" pos=\"0.3 -0.3 -0.3975\" 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=\"peg1\" pos=\"0.23 0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"bmetal\" />\n    </body>\n    <body name=\"peg2\" pos=\"0.23 -0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.02 0.1\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.02 0.1\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"smetal\" />\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=\"SquareNut_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"SquareNut_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"SquareNut_g0\" size=\"0.0105 0.04375 0.01\" pos=\"-0.03325 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.2\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g1\" size=\"0.03125 0.0105 0.01\" pos=\"0 0.03325 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g2\" size=\"0.03125 0.0105 0.01\" pos=\"0 -0.03325 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g3\" size=\"0.0105 0.04375 0.01\" pos=\"0.03325 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g4\" size=\"0.02525 0.015875 0.01\" pos=\"0.054 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g0_visual\" size=\"0.0105 0.04375 0.01\" pos=\"-0.03325 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.2\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g1_visual\" size=\"0.03125 0.0105 0.01\" pos=\"0 0.03325 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g2_visual\" size=\"0.03125 0.0105 0.01\" pos=\"0 -0.03325 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g3_visual\" size=\"0.0105 0.04375 0.01\" pos=\"0.03325 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g4_visual\" size=\"0.02525 0.015875 0.01\" pos=\"0.054 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <site name=\"SquareNut_handle_site\" pos=\"0.054 0 0\" rgba=\"1 0 0 -1\" />\n      <site name=\"SquareNut_center_site\" pos=\"0 0 0\" size=\"0.003\" rgba=\"1 0 0 -1\" />\n      <site name=\"SquareNut_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"RoundNut_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"RoundNut_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"RoundNut_g0\" size=\"0.01125 0.0225 0.01\" pos=\"-0.04245 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g1\" size=\"0.01125 0.0225 0.01\" pos=\"0.04245 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g2\" size=\"0.0225 0.01125 0.01\" pos=\"0 -0.04245 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g3\" size=\"0.0225 0.01125 0.01\" pos=\"0 0.04245 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g4\" size=\"0.01125 0.0225 0.01\" pos=\"-0.03 -0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g5\" size=\"0.01125 0.0225 0.01\" pos=\"0.03 0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g6\" size=\"0.0225 0.01125 0.01\" pos=\"0.03 -0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g7\" size=\"0.0225 0.01125 0.01\" pos=\"-0.03 0.03 0\" 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+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+                14
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+                17
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+            {
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+              "slice": [
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+                21
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+            },
+            {
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+              "slice": [
+                21,
+                25
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+            },
+            {
+              "name": "robot0_gripper_qpos",
+              "slice": [
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+                27
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+            },
+            {
+              "name": "robot0_gripper_qvel",
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+                29
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+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                36
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+            },
+            {
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+              "slice": [
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+                43
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+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
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+                50
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+            {
+              "name": "robot0_joint_vel",
+              "slice": [
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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_136_t0__8ec836"
+  },
+  "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
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+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch140_successrate0.3600_n50_tmax500_tmin111_tavg376.96",
+  "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": "NutAssemblySquare",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505456"
+    },
+    "execution_policy_id": "model_epoch140_successrate0.3600_n50_tmax500_tmin111_tavg376.96",
+    "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_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 0.795\" 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 0.3975\" pos=\"0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3975\" pos=\"-0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3975\" pos=\"-0.3 -0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3975\" pos=\"0.3 -0.3 -0.3975\" 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=\"peg1\" pos=\"0.23 0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"bmetal\" />\n    </body>\n    <body name=\"peg2\" pos=\"0.23 -0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.02 0.1\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.02 0.1\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"smetal\" />\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 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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=\"SquareNut_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"SquareNut_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"SquareNut_g0\" size=\"0.0105 0.04375 0.01\" pos=\"-0.03325 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.2\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g1\" size=\"0.03125 0.0105 0.01\" pos=\"0 0.03325 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g2\" size=\"0.03125 0.0105 0.01\" pos=\"0 -0.03325 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g3\" size=\"0.0105 0.04375 0.01\" pos=\"0.03325 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g4\" size=\"0.02525 0.015875 0.01\" pos=\"0.054 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g0_visual\" size=\"0.0105 0.04375 0.01\" pos=\"-0.03325 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.2\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g1_visual\" size=\"0.03125 0.0105 0.01\" pos=\"0 0.03325 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g2_visual\" size=\"0.03125 0.0105 0.01\" pos=\"0 -0.03325 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g3_visual\" size=\"0.0105 0.04375 0.01\" pos=\"0.03325 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <geom name=\"SquareNut_g4_visual\" size=\"0.02525 0.015875 0.01\" pos=\"0.054 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"SquareNut_bmetal\" />\n      <site name=\"SquareNut_handle_site\" pos=\"0.054 0 0\" rgba=\"1 0 0 -1\" />\n      <site name=\"SquareNut_center_site\" pos=\"0 0 0\" size=\"0.003\" rgba=\"1 0 0 -1\" />\n      <site name=\"SquareNut_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"RoundNut_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"RoundNut_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"RoundNut_g0\" size=\"0.01125 0.0225 0.01\" pos=\"-0.04245 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g1\" size=\"0.01125 0.0225 0.01\" pos=\"0.04245 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g2\" size=\"0.0225 0.01125 0.01\" pos=\"0 -0.04245 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g3\" size=\"0.0225 0.01125 0.01\" pos=\"0 0.04245 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g4\" size=\"0.01125 0.0225 0.01\" pos=\"-0.03 -0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g5\" size=\"0.01125 0.0225 0.01\" pos=\"0.03 0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g6\" size=\"0.0225 0.01125 0.01\" pos=\"0.03 -0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g7\" size=\"0.0225 0.01125 0.01\" pos=\"-0.03 0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g8\" size=\"0.02525 0.015875 0.01\" pos=\"0.06 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"RoundNut_g0_visual\" size=\"0.01125 0.0225 0.01\" pos=\"-0.04245 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g1_visual\" size=\"0.01125 0.0225 0.01\" pos=\"0.04245 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g2_visual\" size=\"0.0225 0.01125 0.01\" pos=\"0 -0.04245 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g3_visual\" size=\"0.0225 0.01125 0.01\" pos=\"0 0.04245 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g4_visual\" size=\"0.01125 0.0225 0.01\" pos=\"-0.03 -0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g5_visual\" size=\"0.01125 0.0225 0.01\" pos=\"0.03 0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g6_visual\" size=\"0.0225 0.01125 0.01\" pos=\"0.03 -0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g7_visual\" size=\"0.0225 0.01125 0.01\" pos=\"-0.03 0.03 0\" quat=\"0.92388 0 0 0.382683\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <geom name=\"RoundNut_g8_visual\" size=\"0.02525 0.015875 0.01\" pos=\"0.06 0 0\" type=\"box\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"RoundNut_smetal\" />\n      <site name=\"RoundNut_handle_site\" pos=\"0.06 0 0\" rgba=\"1 0 0 -1\" />\n      <site name=\"RoundNut_center_site\" pos=\"0 0 0\" size=\"0.003\" rgba=\"1 0 0 -1\" />\n      <site name=\"RoundNut_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\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\" 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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 0.795\" 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 0.3975\" pos=\"0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3975\" pos=\"-0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3975\" pos=\"-0.3 -0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3975\" pos=\"0.3 -0.3 -0.3975\" 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=\"peg1\" pos=\"0.23 0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"bmetal\" />\n    </body>\n    <body name=\"peg2\" pos=\"0.23 -0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.02 0.1\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.02 0.1\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"smetal\" />\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 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rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring004_004_002\" shininess=\"0.45\" />\n    <material name=\"robot0_Part__Mirroring005_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring006_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring007_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring_004_001\" shininess=\"0.45\" rgba=\"0.898039 0.917647 0.929412 1\" />\n    <material name=\"SquareNut_bmetal\" texture=\"SquareNut_brass-metal\" texuniform=\"true\" specular=\"1\" shininess=\"1\" reflectance=\"1\" />\n    <material name=\"RoundNut_smetal\" texture=\"RoundNut_steel-metal\" texuniform=\"true\" specular=\"1\" shininess=\"1\" reflectance=\"1\" />\n    <mesh name=\"robot0_link0\" 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\" 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 0.795\" 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 0.3975\" pos=\"0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg2_visual\" size=\"0.025 0.3975\" pos=\"-0.3 0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg3_visual\" size=\"0.025 0.3975\" pos=\"-0.3 -0.3 -0.3975\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"table_leg4_visual\" size=\"0.025 0.3975\" pos=\"0.3 -0.3 -0.3975\" 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=\"peg1\" pos=\"0.23 0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.016 0.016 0.1\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"bmetal\" />\n    </body>\n    <body name=\"peg2\" pos=\"0.23 -0.1 0.85\" gravcomp=\"0\">\n      <geom size=\"0.02 0.1\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.02 0.1\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"smetal\" />\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=\"SquareNut_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"SquareNut_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"SquareNut_g0\" size=\"0.0105 0.04375 0.01\" pos=\"-0.03325 0 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.2\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g1\" size=\"0.03125 0.0105 0.01\" pos=\"0 0.03325 0\" type=\"box\" condim=\"4\" friction=\"0.95 0.3 0.1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" />\n      <geom name=\"SquareNut_g2\" 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policies/robomimic-ph-visual-only/square/rollouts/model_epoch140_successrate0.3600_n50_tmax500_tmin111_tavg376.96/demo_142/artifact_manifest.json

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