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rgba=\"0 1 0 1\" />\n    <material name=\"robot0_Face374_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Face539_002_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Feature001_009_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Feature002_006_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Shell002_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell003_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell004_001_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell005_001_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell006_003_002_001\" shininess=\"0.45\" rgba=\"0.901961 0.921569 0.929412 1\" />\n    <material name=\"robot0_Shell007_002_002_001\" shininess=\"0.45\" rgba=\"0.25 0.25 0.25 1\" />\n    <material name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" 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+}
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name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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=\"Milk_ceramic\" texture=\"Milk_tex-ceramic\" texuniform=\"true\" reflectance=\"0.5\" />\n    <material name=\"Bread_bread\" texture=\"Bread_tex-bread\" texuniform=\"true\" texrepeat=\"15 15\" reflectance=\"0.7\" />\n    <material name=\"Cereal_cereal\" texture=\"Cereal_tex-cereal\" reflectance=\"0.5\" />\n    <material name=\"Can_coke\" texture=\"Can_tex-can\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.7\" />\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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" 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+}
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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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+              "slice": [
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+          ],
+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
+                0,
+                14
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+            },
+            {
+              "name": "robot0_eef_pos",
+              "slice": [
+                14,
+                17
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+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
+                17,
+                21
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+            },
+            {
+              "name": "robot0_eef_quat_site",
+              "slice": [
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+                25
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+            },
+            {
+              "name": "robot0_gripper_qpos",
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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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+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
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+                43
+              ]
+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
+                43,
+                50
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+            },
+            {
+              "name": "robot0_joint_vel",
+              "slice": [
+                50,
+                57
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+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_68_t0__du00h1"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 357,
+    "first_success_step": 357,
+    "first_success_timestep_simulator": 356,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 357
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+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch25_successrate0.3000_n50_tmax500_tmin100_tavg397.46",
+  "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": "PickPlaceCan",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505453"
+    },
+    "execution_policy_id": "model_epoch25_successrate0.3000_n50_tmax500_tmin100_tavg397.46",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_68",
+      "initial_condition_id": "demo_68",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_68",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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 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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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>",
+        "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf",
+        "ordered_index": 30,
+        "reset_view_sha256": {
+          "agentview_image": "83cd6907e03b1f0fbf1a8ecb52c22d1780116f3ee6a6a11b0926a72ef31269df",
+          "robot0_eye_in_hand_image": "d4ffec73901e4dd35436ed103f6a00b76f460e5cd2e7cba80e56356b257de27a"
+        },
+        "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5",
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+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
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+            "type": "BASIC"
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+          "has_offscreen_renderer": true,
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+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" 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material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom 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1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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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\" 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scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" 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name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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=\"Milk_ceramic\" texture=\"Milk_tex-ceramic\" texuniform=\"true\" reflectance=\"0.5\" />\n    <material name=\"Bread_bread\" texture=\"Bread_tex-bread\" texuniform=\"true\" texrepeat=\"15 15\" reflectance=\"0.7\" />\n    <material name=\"Cereal_cereal\" texture=\"Cereal_tex-cereal\" reflectance=\"0.5\" />\n    <material name=\"Can_coke\" texture=\"Can_tex-can\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.7\" />\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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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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+          "space": "raw"
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+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
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+            "robot0_eye_in_hand_image"
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+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
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+        "states": {
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+            {
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+                14
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+            {
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+            {
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+                21
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+            {
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+                25
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+            {
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+            {
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+            {
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+            {
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+            },
+            {
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+            {
+              "name": "robot0_joint_vel",
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+          "keys": [
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+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
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+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_90_t0__ijy50z"
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+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 500,
+    "first_success_step": null,
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+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": false,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "configured_max_horizon",
+    "valid_horizon": 500
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+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch25_successrate0.3000_n50_tmax500_tmin100_tavg397.46",
+  "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,
+                  -0.05,
+                  -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": "PickPlaceCan",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505453"
+    },
+    "execution_policy_id": "model_epoch25_successrate0.3000_n50_tmax500_tmin100_tavg397.46",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_90",
+      "initial_condition_id": "demo_90",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_90",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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 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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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>",
+        "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf",
+        "ordered_index": 3,
+        "reset_view_sha256": {
+          "agentview_image": "2f0e637a9c5188b1aee3ff1752d52c11b964fd96b9c46b8a73372e9bbe96cfc8",
+          "robot0_eye_in_hand_image": "b18bd12587c94d13b9f88bada2684c4e7485156b730637451c28930b7b9e0c9f"
+        },
+        "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5",
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+                "position_limits": null,
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+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
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+            "type": "BASIC"
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+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
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+          "use_camera_obs": true,
+          "use_object_obs": true
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+        "env_name": "PickPlaceCan",
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+      "initial_condition_id": "demo_91",
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" 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material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom 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1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" 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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\" 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scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" 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1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 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+      "metadata_source": "checkpoint_config_and_action_stats",
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+}
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diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch25_successrate0.3000_n50_tmax500_tmin100_tavg397.46/demo_99/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch25_successrate0.3000_n50_tmax500_tmin100_tavg397.46/demo_99/rollout.mp4
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rgba=\"0 1 0 1\" />\n    <material name=\"robot0_Face374_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Face539_002_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Feature001_009_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Feature002_006_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Shell002_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell003_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell004_001_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell005_001_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell006_003_002_001\" shininess=\"0.45\" rgba=\"0.901961 0.921569 0.929412 1\" />\n    <material name=\"robot0_Shell007_002_002_001\" shininess=\"0.45\" rgba=\"0.25 0.25 0.25 1\" />\n    <material name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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\" 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name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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=\"Milk_ceramic\" texture=\"Milk_tex-ceramic\" texuniform=\"true\" reflectance=\"0.5\" />\n    <material name=\"Bread_bread\" texture=\"Bread_tex-bread\" texuniform=\"true\" texrepeat=\"15 15\" reflectance=\"0.7\" />\n    <material name=\"Cereal_cereal\" texture=\"Cereal_tex-cereal\" reflectance=\"0.5\" />\n    <material name=\"Can_coke\" texture=\"Can_tex-can\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.7\" />\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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+}
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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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+              "slice": [
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+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
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+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
+              "name": "object",
+              "slice": [
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+                14
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+            },
+            {
+              "name": "robot0_eef_pos",
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+                17
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+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
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+                21
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+            },
+            {
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+              "slice": [
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+                25
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+            },
+            {
+              "name": "robot0_gripper_qpos",
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+                27
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+            },
+            {
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+                29
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+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                36
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+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "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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+                57
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+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_116_t0__8gvagw"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 149,
+    "first_success_step": 149,
+    "first_success_timestep_simulator": 148,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 149
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+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.3800_n50_tmax500_tmin95_tavg358.98",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
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+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "PickPlaceCan",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505453"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.3800_n50_tmax500_tmin95_tavg358.98",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_116",
+      "initial_condition_id": "demo_116",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_116",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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 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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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>",
+        "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf",
+        "ordered_index": 40,
+        "reset_view_sha256": {
+          "agentview_image": "0289cb4175804f4f336920bd7e169e608188b27a2d5a2f1c59ef78f64bc3fbc7",
+          "robot0_eye_in_hand_image": "7fda44e4c9bcca42df3661dccaec3420911b38e99f5aa651d3df9c287f98871f"
+        },
+        "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5",
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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"
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+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "PickPlaceCan",
+        "env_version": "1.5.2",
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+    "execution": {
+      "slurm_job_id": "5505453"
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+      "initial_condition_id": "demo_117",
+      "pairing_key": {
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+        "episode_id": "demo_117",
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" 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1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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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\" 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scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" 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1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
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rgba=\"0 1 0 1\" />\n    <material name=\"robot0_Face374_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Face539_002_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Feature001_009_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Feature002_006_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Shell002_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell003_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell004_001_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell005_001_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell006_003_002_001\" shininess=\"0.45\" rgba=\"0.901961 0.921569 0.929412 1\" />\n    <material name=\"robot0_Shell007_002_002_001\" shininess=\"0.45\" rgba=\"0.25 0.25 0.25 1\" />\n    <material name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" 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+      "metadata_source": "checkpoint_config_and_action_stats",
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+  "view_names": [
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+    "robot0_eye_in_hand_image"
+  ],
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+}
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name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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=\"Milk_ceramic\" texture=\"Milk_tex-ceramic\" texuniform=\"true\" reflectance=\"0.5\" />\n    <material name=\"Bread_bread\" texture=\"Bread_tex-bread\" texuniform=\"true\" texrepeat=\"15 15\" reflectance=\"0.7\" />\n    <material name=\"Cereal_cereal\" texture=\"Cereal_tex-cereal\" reflectance=\"0.5\" />\n    <material name=\"Can_coke\" texture=\"Can_tex-can\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.7\" />\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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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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+          ],
+          "space": "raw"
+        },
+        "rendering": {
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+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
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+              "name": "object",
+              "slice": [
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+                14
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+            },
+            {
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+                17
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+            },
+            {
+              "name": "robot0_eef_quat",
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+                21
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+            },
+            {
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+              "slice": [
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+                25
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+            },
+            {
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+            },
+            {
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+                29
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+            },
+            {
+              "name": "robot0_joint_pos",
+              "slice": [
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+                36
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+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "slice": [
+                36,
+                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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+                57
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+            }
+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_138_t0__x7k3gn"
+  },
+  "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_epoch30_successrate0.3800_n50_tmax500_tmin95_tavg358.98",
+  "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,
+                  -0.05,
+                  -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": "PickPlaceCan",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505453"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.3800_n50_tmax500_tmin95_tavg358.98",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_138",
+      "initial_condition_id": "demo_138",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_138",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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 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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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>",
+        "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf",
+        "ordered_index": 27,
+        "reset_view_sha256": {
+          "agentview_image": "8ee86cdf7d9bedfaad0c0fc06f0481a161038f03e53ebb1c385b3ebe97642307",
+          "robot0_eye_in_hand_image": "0ab1e0ba8972b05af46f0a74598adf30d859bdf863fbd35ee23023d4d84b8ec9"
+        },
+        "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5",
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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"
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+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "PickPlaceCan",
+        "env_version": "1.5.2",
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+    "execution": {
+      "slurm_job_id": "5505453"
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+    "execution_policy_id": "model_epoch30_successrate0.3800_n50_tmax500_tmin95_tavg358.98",
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+      "initial_condition_id": "demo_139",
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+        "episode_id": "demo_139",
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" 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material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" 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1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" 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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\" 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scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" 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1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/branches/continuation_seed0_epoch20_2619bd1e4730/models/intermediate/model_epoch_30.pth",
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+      "sha256": "4e3f70f7828377708bf15b54e698964e7210f9668e678df03508eb07eca600ea"
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+  "view_names": [
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+    "robot0_eye_in_hand_image"
+  ],
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+}
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rgba=\"0 1 0 1\" />\n    <material name=\"robot0_Face374_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Face539_002_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Feature001_009_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Feature002_006_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Shell002_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell003_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell004_001_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell005_001_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell006_003_002_001\" shininess=\"0.45\" rgba=\"0.901961 0.921569 0.929412 1\" />\n    <material name=\"robot0_Shell007_002_002_001\" shininess=\"0.45\" rgba=\"0.25 0.25 0.25 1\" />\n    <material name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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+}
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name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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=\"Milk_ceramic\" texture=\"Milk_tex-ceramic\" texuniform=\"true\" reflectance=\"0.5\" />\n    <material name=\"Bread_bread\" texture=\"Bread_tex-bread\" texuniform=\"true\" texrepeat=\"15 15\" reflectance=\"0.7\" />\n    <material name=\"Cereal_cereal\" texture=\"Cereal_tex-cereal\" reflectance=\"0.5\" />\n    <material name=\"Can_coke\" texture=\"Can_tex-can\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.7\" />\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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+}
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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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+          "space": "raw"
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+        "rendering": {
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+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
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+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
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+                14
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+            {
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+            {
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+                21
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+            },
+            {
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+                25
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+            {
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+            },
+            {
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+                29
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+            {
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+            },
+            {
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+                43
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+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
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+                50
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+            },
+            {
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+              "slice": [
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+          "keys": [
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+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_158_t0__9wlnjt"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 500,
+    "first_success_step": null,
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+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": false,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "configured_max_horizon",
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+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.3800_n50_tmax500_tmin95_tavg358.98",
+  "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,
+                  -0.05,
+                  -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": "PickPlaceCan",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505453"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.3800_n50_tmax500_tmin95_tavg358.98",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_158",
+      "initial_condition_id": "demo_158",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_158",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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 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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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>",
+        "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf",
+        "ordered_index": 21,
+        "reset_view_sha256": {
+          "agentview_image": "7a59fe24b0745abbf810d36dfd24282cd0a654b46e296d01e0c53efc8b28e7ec",
+          "robot0_eye_in_hand_image": "33c5e5870cfd2871a2a69ff4df4cf7159d35af2f80fac3d60b5481dcafbaba6a"
+        },
+        "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5",
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+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
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+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
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+          "use_camera_obs": true,
+          "use_object_obs": true
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+        "env_name": "PickPlaceCan",
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+    "execution": {
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" 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1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" 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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\" 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scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" 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1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" 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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/branches/continuation_seed0_epoch20_2619bd1e4730/models/intermediate/model_epoch_30.pth",
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+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/branches/continuation_seed0_epoch20_2619bd1e4730/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/branches/continuation_seed0_epoch20_2619bd1e4730/models/ph_selection_n50_tmax500/model_epoch30_successrate0.3800_n50_tmax500_tmin95_tavg358.98.pth",
+      "sha256": "4e3f70f7828377708bf15b54e698964e7210f9668e678df03508eb07eca600ea"
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+      "sha256": "dcd0642a8735569c259d4774850e46797d9bfd2330e350e02d1da6d4ff0b17a6"
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+  "view_layout": "width_concat",
+  "view_names": [
+    "agentview_image",
+    "robot0_eye_in_hand_image"
+  ],
+  "view_width": 384
+}
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name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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=\"Milk_ceramic\" texture=\"Milk_tex-ceramic\" texuniform=\"true\" reflectance=\"0.5\" />\n    <material name=\"Bread_bread\" texture=\"Bread_tex-bread\" texuniform=\"true\" texrepeat=\"15 15\" reflectance=\"0.7\" />\n    <material name=\"Cereal_cereal\" texture=\"Cereal_tex-cereal\" reflectance=\"0.5\" />\n    <material name=\"Can_coke\" texture=\"Can_tex-can\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.7\" />\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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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+}
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+}
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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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+          "space": "raw"
+        },
+        "rendering": {
+          "decoded_images_persisted": false,
+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
+            {
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+              "slice": [
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+                14
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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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+              "slice": [
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+                25
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+            {
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+            },
+            {
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+                29
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+            },
+            {
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+              "slice": [
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+                36
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+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "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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+                57
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+            }
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+          "keys": [
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+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_172_t0__31llh9"
+  },
+  "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_epoch30_successrate0.3800_n50_tmax500_tmin95_tavg358.98",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
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+                  300
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+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
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+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "PickPlaceCan",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505453"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.3800_n50_tmax500_tmin95_tavg358.98",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_172",
+      "initial_condition_id": "demo_172",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_172",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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 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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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>",
+        "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf",
+        "ordered_index": 43,
+        "reset_view_sha256": {
+          "agentview_image": "3d4eacf1c8d5f272e48935cfe89289b5a552e7d3a77bcccfa87376a40e99ab70",
+          "robot0_eye_in_hand_image": "8a335f9432e1bce37d1cd3ffe694c98b49fadc4ce8270f2386c784dc5dec2ff9"
+        },
+        "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5",
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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": "PickPlaceCan",
+        "env_version": "1.5.2",
+        "type": 1
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+      "robosuite_version": "1.5.2"
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+    "execution": {
+      "slurm_job_id": "5505453"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.3800_n50_tmax500_tmin95_tavg358.98",
+    "initial_condition": {
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+      "episode_id": "demo_179",
+      "initial_condition_id": "demo_179",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_179",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" 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conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" 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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\" 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scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" 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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
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rgba=\"0 1 0 1\" />\n    <material name=\"robot0_Face374_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Face539_002_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Feature001_009_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Feature002_006_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Shell002_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell003_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell004_001_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell005_001_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell006_003_002_001\" shininess=\"0.45\" rgba=\"0.901961 0.921569 0.929412 1\" />\n    <material name=\"robot0_Shell007_002_002_001\" shininess=\"0.45\" rgba=\"0.25 0.25 0.25 1\" />\n    <material name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" 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+      "metadata_source": "checkpoint_config_and_action_stats",
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+  ],
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+}
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name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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=\"Milk_ceramic\" texture=\"Milk_tex-ceramic\" texuniform=\"true\" reflectance=\"0.5\" />\n    <material name=\"Bread_bread\" texture=\"Bread_tex-bread\" texuniform=\"true\" texrepeat=\"15 15\" reflectance=\"0.7\" />\n    <material name=\"Cereal_cereal\" texture=\"Cereal_tex-cereal\" reflectance=\"0.5\" />\n    <material name=\"Can_coke\" texture=\"Can_tex-can\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.7\" />\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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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+}
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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+}
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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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+          "space": "raw"
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+        "rendering": {
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+          "height": 384,
+          "rgb_keys": [
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+            "robot0_eye_in_hand_image"
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+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
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+                14
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+            {
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+                21
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+            },
+            {
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+                25
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+            {
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+            {
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+            {
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+                36
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+            },
+            {
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+                43
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+            },
+            {
+              "name": "robot0_joint_pos_sin",
+              "slice": [
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+            {
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+              "slice": [
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+          "keys": [
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+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_54_t0__g4yysk"
+  },
+  "outcome": {
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+    "effective_horizon": 500,
+    "first_success_step": null,
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+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": false,
+    "success_source": "robosuite_env.is_success.task",
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+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
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+  "policy_id": "model_epoch30_successrate0.3800_n50_tmax500_tmin95_tavg358.98",
+  "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,
+                  -0.05,
+                  -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": "PickPlaceCan",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505453"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.3800_n50_tmax500_tmin95_tavg358.98",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_54",
+      "initial_condition_id": "demo_54",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_54",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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 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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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>",
+        "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf",
+        "ordered_index": 18,
+        "reset_view_sha256": {
+          "agentview_image": "0c1f0395aeeaf9b47be612afd9f346e1a6dadfb469bf331b72e90a654d181cdb",
+          "robot0_eye_in_hand_image": "913f7daabe3bd9f565603aa0adeebc0bb030fabedc79f9a0a140518a337c9a3b"
+        },
+        "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5",
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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"
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+          "use_camera_obs": true,
+          "use_object_obs": true
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+        "env_name": "PickPlaceCan",
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+    "execution": {
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+      "initial_condition_id": "demo_6",
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+        "episode_id": "demo_6",
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" 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material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom 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1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" 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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\" 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scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" 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1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 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+    "robot0_eye_in_hand_image"
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+}
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rgba=\"0 1 0 1\" />\n    <material name=\"robot0_Face374_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Face539_002_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Feature001_009_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Feature002_006_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Shell002_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell003_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell004_001_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell005_001_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell006_003_002_001\" shininess=\"0.45\" rgba=\"0.901961 0.921569 0.929412 1\" />\n    <material name=\"robot0_Shell007_002_002_001\" shininess=\"0.45\" rgba=\"0.25 0.25 0.25 1\" />\n    <material name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" 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+}
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name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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=\"Milk_ceramic\" texture=\"Milk_tex-ceramic\" texuniform=\"true\" reflectance=\"0.5\" />\n    <material name=\"Bread_bread\" texture=\"Bread_tex-bread\" texuniform=\"true\" texrepeat=\"15 15\" reflectance=\"0.7\" />\n    <material name=\"Cereal_cereal\" texture=\"Cereal_tex-cereal\" reflectance=\"0.5\" />\n    <material name=\"Can_coke\" texture=\"Can_tex-can\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.7\" />\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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" 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+}
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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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+          ],
+          "space": "raw"
+        },
+        "rendering": {
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+          "height": 384,
+          "rgb_keys": [
+            "agentview_image",
+            "robot0_eye_in_hand_image"
+          ],
+          "source": "robomimic_env_render",
+          "width": 384
+        },
+        "rewards": {
+          "native_source": "env.step",
+          "report_regimes_source": "src.eval_ope.rewards"
+        },
+        "states": {
+          "dimensions": [
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+              "name": "object",
+              "slice": [
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+                14
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+            },
+            {
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+              "slice": [
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+            },
+            {
+              "name": "robot0_eef_quat",
+              "slice": [
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+                21
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+            },
+            {
+              "name": "robot0_eef_quat_site",
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+                25
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+            },
+            {
+              "name": "robot0_gripper_qpos",
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+            },
+            {
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+                29
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+            },
+            {
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+              "slice": [
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+                36
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+            },
+            {
+              "name": "robot0_joint_pos_cos",
+              "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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+                57
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+          ],
+          "keys": [
+            "object",
+            "robot0_eef_pos",
+            "robot0_eef_quat",
+            "robot0_eef_quat_site",
+            "robot0_gripper_qpos",
+            "robot0_gripper_qvel",
+            "robot0_joint_pos",
+            "robot0_joint_pos_cos",
+            "robot0_joint_pos_sin",
+            "robot0_joint_vel"
+          ],
+          "representation": "low_dim",
+          "source": "robomimic_simulator_post_action_successor_observation"
+        }
+      }
+    },
+    "metadata_version": 1,
+    "trajectory_id": "demo_83_t0__xorrpc"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 120,
+    "first_success_step": 120,
+    "first_success_timestep_simulator": 119,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 120
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+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.3800_n50_tmax500_tmin95_tavg358.98",
+  "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": [
+                  0,
+                  300
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+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
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+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "PickPlaceCan",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5505453"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.3800_n50_tmax500_tmin95_tavg358.98",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_83",
+      "initial_condition_id": "demo_83",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_83",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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 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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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>",
+        "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf",
+        "ordered_index": 46,
+        "reset_view_sha256": {
+          "agentview_image": "c6b3e43ff9b6c721192ef45437e455dfad1f12b40f77673ee59e5b20bff1c119",
+          "robot0_eye_in_hand_image": "c9d520ac7de8abc59a500b9524c209b219a850b5b92d1ae5734ecda22922eff3"
+        },
+        "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5",
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+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
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+            "type": "BASIC"
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+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
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+          "use_camera_obs": true,
+          "use_object_obs": true
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+        "env_name": "PickPlaceCan",
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" 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material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" 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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\" 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scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" 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1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 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+      "action_output_space": "raw",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
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+  "view_names": [
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+    "robot0_eye_in_hand_image"
+  ],
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+}
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rgba=\"0 1 0 1\" />\n    <material name=\"robot0_Face374_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Face539_002_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Feature001_009_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Feature002_006_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Shell002_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell003_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell004_001_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell005_001_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell006_003_002_001\" shininess=\"0.45\" rgba=\"0.901961 0.921569 0.929412 1\" />\n    <material name=\"robot0_Shell007_002_002_001\" shininess=\"0.45\" rgba=\"0.25 0.25 0.25 1\" />\n    <material name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" 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+  "view_names": [
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+    "robot0_eye_in_hand_image"
+  ],
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+}
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name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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=\"Milk_ceramic\" texture=\"Milk_tex-ceramic\" texuniform=\"true\" reflectance=\"0.5\" />\n    <material name=\"Bread_bread\" texture=\"Bread_tex-bread\" texuniform=\"true\" texrepeat=\"15 15\" reflectance=\"0.7\" />\n    <material name=\"Cereal_cereal\" texture=\"Cereal_tex-cereal\" reflectance=\"0.5\" />\n    <material name=\"Can_coke\" texture=\"Can_tex-can\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.7\" />\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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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+}
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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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+            "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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+                17
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+            {
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+                21
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+            },
+            {
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+                25
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+            {
+              "name": "robot0_gripper_qpos",
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+            },
+            {
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+                29
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+            },
+            {
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+              "slice": [
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+                36
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+            },
+            {
+              "name": "robot0_joint_pos_cos",
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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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+                57
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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_10_t0__9is9dp"
+  },
+  "outcome": {
+    "configured_max_horizon": 500,
+    "effective_horizon": 113,
+    "first_success_step": 113,
+    "first_success_timestep_simulator": 112,
+    "requested_horizon": 500,
+    "success_simulator_any_within_horizon": true,
+    "success_source": "robosuite_env.is_success.task",
+    "terminal_reason": "task_success",
+    "valid_horizon": 113
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+  "policy_horizons": {
+    "action_horizon": 1,
+    "observation_horizon": 2,
+    "prediction_horizon": 16
+  },
+  "policy_id": "model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86",
+  "provenance": {
+    "environment": {
+      "metadata": {
+        "env_kwargs": {
+          "camera_depths": false,
+          "camera_heights": 84,
+          "camera_names": [
+            "agentview",
+            "robot0_eye_in_hand"
+          ],
+          "camera_widths": 84,
+          "control_freq": 20,
+          "controller_configs": {
+            "body_parts": {
+              "right": {
+                "control_delta": true,
+                "damping": 1,
+                "damping_limits": [
+                  0,
+                  10
+                ],
+                "gripper": {
+                  "type": "GRIP"
+                },
+                "impedance_mode": "fixed",
+                "input_max": 1,
+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
+                  0,
+                  300
+                ],
+                "orientation_limits": null,
+                "output_max": [
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+                  0.05,
+                  0.05,
+                  0.5,
+                  0.5,
+                  0.5
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+                "output_min": [
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+                  -0.05,
+                  -0.05,
+                  -0.5,
+                  -0.5,
+                  -0.5
+                ],
+                "position_limits": null,
+                "ramp_ratio": 0.2,
+                "type": "OSC_POSE",
+                "uncouple_pos_ori": true
+              }
+            },
+            "type": "BASIC"
+          },
+          "has_offscreen_renderer": true,
+          "has_renderer": false,
+          "ignore_done": true,
+          "lite_physics": false,
+          "render_gpu_device_id": 0,
+          "reward_shaping": false,
+          "robots": [
+            "Panda"
+          ],
+          "use_camera_obs": true,
+          "use_object_obs": true
+        },
+        "env_name": "PickPlaceCan",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495221"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_10",
+      "initial_condition_id": "demo_10",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_10",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/link6_vis/link6_vis_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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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 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name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                        </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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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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+      "episode_id": "demo_105",
+      "initial_condition_id": "demo_105",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_105",
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scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" 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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 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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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+      "split": "all",
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5",
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+      "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35",
+      "repository_dirty": true
+    },
+    "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0",
+    "target_policy": {
+      "action_dim": 7,
+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_sha256": "441c0cebcf2ad0c21f0eb2728e832e275083caf8483ef1ca377cc7c320fc0df6",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
+      "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "train_action_config": {
+        "actions": {
+          "normalization": null
+        }
+      }
+    },
+    "target_policy_checkpoint": {
+      "checkpoint_recorded_success_rate": null,
+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86.pth",
+      "sha256": "441c0cebcf2ad0c21f0eb2728e832e275083caf8483ef1ca377cc7c320fc0df6"
+    },
+    "target_policy_experiment_config": {
+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json",
+      "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287"
+    }
+  },
+  "schema_version": "published_sim_trajectory/v1",
+  "timing_seconds": {
+    "rollout": 47.794407351873815
+  },
+  "view_height": 384,
+  "view_layout": "width_concat",
+  "view_names": [
+    "agentview_image",
+    "robot0_eye_in_hand_image"
+  ],
+  "view_width": 384
+}
diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86/demo_111/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86/demo_111/artifact_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..15d7608b83272b03bf454f5405870d532b7a6d04
--- /dev/null
+++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86/demo_111/artifact_manifest.json
@@ -0,0 +1,27 @@
+{
+  "complete": true,
+  "files": {
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" 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+      "policy_type": "robomimic",
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+  "view_names": [
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+  ],
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+}
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+++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86/demo_116/trajectory.json
@@ -0,0 +1,587 @@
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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=\"Milk_ceramic\" texture=\"Milk_tex-ceramic\" texuniform=\"true\" reflectance=\"0.5\" />\n    <material name=\"Bread_bread\" texture=\"Bread_tex-bread\" texuniform=\"true\" texrepeat=\"15 15\" reflectance=\"0.7\" />\n    <material name=\"Cereal_cereal\" texture=\"Cereal_tex-cereal\" reflectance=\"0.5\" />\n    <material name=\"Can_coke\" texture=\"Can_tex-can\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.7\" />\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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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\" 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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\" 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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 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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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>",
+        "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf",
+        "ordered_index": 38,
+        "reset_view_sha256": {
+          "agentview_image": "6ce6a86e35fe2b7e4cb01072e54ddd31e44d7e8313ceb207d50023b89ab18d70",
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+          "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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+                "orientation_limits": null,
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+                  -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": "PickPlaceCan",
+        "env_version": "1.5.2",
+        "type": 1
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+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495221"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86",
+    "initial_condition": {
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+      "episode_id": "demo_126",
+      "initial_condition_id": "demo_126",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_126",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/obj_meshes/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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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size=\"0.385 0.35 0.155\" pos=\"-0.1225 0 -0.758\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n        <body name=\"fixed_mount0_torso\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" mass=\"0.0001\" diaginertia=\"1e-08 1e-08 1e-08\" />\n          <geom name=\"fixed_mount0_torso_vis\" size=\"0.05 0.05 0.05\" pos=\"0 0 -0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" />\n        </body>\n        <body name=\"fixed_mount0_pedestal\" pos=\"0 0 0\" gravcomp=\"0\">\n          <inertial pos=\"0 0 0\" quat=\"0.659267 -0.259505 -0.260945 0.655692\" mass=\"60.864\" diaginertia=\"6.0869 5.81635 4.20915\" />\n          <geom name=\"fixed_mount0_pedestal_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.2 0.2 0.2 1\" mesh=\"fixed_mount0_pedestal\" />\n          <geom name=\"fixed_mount0_pedestal_col\" size=\"0.18 0.31\" pos=\"-0.02 0 -0.29\" type=\"cylinder\" rgba=\"0.5 0.5 0 1\" />\n        </body>\n      </body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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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+      "repository_dirty": true
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+      "action_output_space": "raw",
+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_sha256": "441c0cebcf2ad0c21f0eb2728e832e275083caf8483ef1ca377cc7c320fc0df6",
+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
+      "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "train_action_config": {
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+        }
+      }
+    },
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86.pth",
+      "sha256": "441c0cebcf2ad0c21f0eb2728e832e275083caf8483ef1ca377cc7c320fc0df6"
+    },
+    "target_policy_experiment_config": {
+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json",
+      "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287"
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+  },
+  "schema_version": "published_sim_trajectory/v1",
+  "timing_seconds": {
+    "rollout": 30.25126173067838
+  },
+  "view_height": 384,
+  "view_layout": "width_concat",
+  "view_names": [
+    "agentview_image",
+    "robot0_eye_in_hand_image"
+  ],
+  "view_width": 384
+}
diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86/demo_131/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86/demo_131/artifact_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..80591d419c68a03bbcbc7b735eeacbf7a29dd5dc
--- /dev/null
+++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86/demo_131/artifact_manifest.json
@@ -0,0 +1,27 @@
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+  "schema_version": "published_sim_trajectory/v1",
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+    "file_size_bytes": 736747,
+    "fps": 20.0,
+    "frame_count": 500,
+    "height": 384,
+    "width": 768
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rgba=\"0 1 0 1\" />\n    <material name=\"robot0_Face374_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Face539_002_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Feature001_009_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Feature002_006_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Shell002_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell003_002_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell004_001_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell005_001_001_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell006_003_002_001\" shininess=\"0.45\" rgba=\"0.901961 0.921569 0.929412 1\" />\n    <material name=\"robot0_Shell007_002_002_001\" shininess=\"0.45\" rgba=\"0.25 0.25 0.25 1\" />\n    <material name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" 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+      "action_stats_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
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+      "checkpoint_sha256": "441c0cebcf2ad0c21f0eb2728e832e275083caf8483ef1ca377cc7c320fc0df6",
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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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+      "sha256": "441c0cebcf2ad0c21f0eb2728e832e275083caf8483ef1ca377cc7c320fc0df6"
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json",
+      "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287"
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+  "view_layout": "width_concat",
+  "view_names": [
+    "agentview_image",
+    "robot0_eye_in_hand_image"
+  ],
+  "view_width": 384
+}
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diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86/demo_136/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86/demo_136/trajectory.json
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index 0000000000000000000000000000000000000000..b79ba0c427318bef4ad4a61fbaa4d2cd6eced2e9
--- /dev/null
+++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86/demo_136/trajectory.json
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name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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=\"Milk_ceramic\" texture=\"Milk_tex-ceramic\" texuniform=\"true\" reflectance=\"0.5\" />\n    <material name=\"Bread_bread\" texture=\"Bread_tex-bread\" texuniform=\"true\" texrepeat=\"15 15\" reflectance=\"0.7\" />\n    <material name=\"Cereal_cereal\" texture=\"Cereal_tex-cereal\" reflectance=\"0.5\" />\n    <material name=\"Can_coke\" texture=\"Can_tex-can\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.7\" />\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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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+  "view_names": [
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+    "robot0_eye_in_hand_image"
+  ],
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+}
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+    "metadata": {
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+        "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"
+        }
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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\" 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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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 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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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>",
+        "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf",
+        "ordered_index": 19,
+        "reset_view_sha256": {
+          "agentview_image": "28f90e4b83992a0f9e8928c5204e9656d52b10e661a6bbd05d64ac19cc1c08ba",
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+          "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": "PickPlaceCan",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495221"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_145",
+      "initial_condition_id": "demo_145",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_145",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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+      "train_action_config": {
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+    "agentview_image",
+    "robot0_eye_in_hand_image"
+  ],
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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\" 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scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" 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1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
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+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
+      "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "train_action_config": {
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+      "sha256": "441c0cebcf2ad0c21f0eb2728e832e275083caf8483ef1ca377cc7c320fc0df6"
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json",
+      "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287"
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+  "view_layout": "width_concat",
+  "view_names": [
+    "agentview_image",
+    "robot0_eye_in_hand_image"
+  ],
+  "view_width": 384
+}
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name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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=\"Milk_ceramic\" texture=\"Milk_tex-ceramic\" texuniform=\"true\" reflectance=\"0.5\" />\n    <material name=\"Bread_bread\" texture=\"Bread_tex-bread\" texuniform=\"true\" texrepeat=\"15 15\" reflectance=\"0.7\" />\n    <material name=\"Cereal_cereal\" texture=\"Cereal_tex-cereal\" reflectance=\"0.5\" />\n    <material name=\"Can_coke\" texture=\"Can_tex-can\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.7\" />\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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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+}
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+    "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"
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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\" 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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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 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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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>",
+        "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf",
+        "ordered_index": 21,
+        "reset_view_sha256": {
+          "agentview_image": "7a59fe24b0745abbf810d36dfd24282cd0a654b46e296d01e0c53efc8b28e7ec",
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+          "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,
+                  -0.5,
+                  -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": "PickPlaceCan",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495221"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_159",
+      "initial_condition_id": "demo_159",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_159",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
+      "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "train_action_config": {
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+      "sha256": "441c0cebcf2ad0c21f0eb2728e832e275083caf8483ef1ca377cc7c320fc0df6"
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+  "view_names": [
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+  ],
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/robots/panda/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\" 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scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" 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1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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+      "sha256": "441c0cebcf2ad0c21f0eb2728e832e275083caf8483ef1ca377cc7c320fc0df6"
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+      "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json",
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+  "view_names": [
+    "agentview_image",
+    "robot0_eye_in_hand_image"
+  ],
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+}
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name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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=\"Milk_ceramic\" texture=\"Milk_tex-ceramic\" texuniform=\"true\" reflectance=\"0.5\" />\n    <material name=\"Bread_bread\" texture=\"Bread_tex-bread\" texuniform=\"true\" texrepeat=\"15 15\" reflectance=\"0.7\" />\n    <material name=\"Cereal_cereal\" texture=\"Cereal_tex-cereal\" reflectance=\"0.5\" />\n    <material name=\"Can_coke\" texture=\"Can_tex-can\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.7\" />\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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring_004_001\" mesh=\"robot0_link7_vis_7\" />\n                      <geom name=\"robot0_link7_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link7\" />\n                      <body name=\"robot0_right_hand\" pos=\"0 0 0.1065\" quat=\"0.923785 0 0 -0.382911\" gravcomp=\"0\">\n                        <inertial pos=\"0 0 0\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                        <camera name=\"robot0_eye_in_hand\" pos=\"0.05 0 0\" quat=\"0 0.707107 0.707107 0\" fovy=\"75\" />\n                        <body name=\"gripper0_right_right_gripper\" pos=\"0 0 0\" quat=\"0.707107 0 0 -0.707107\" gravcomp=\"0\">\n                          <inertial pos=\"0 0 0.17\" quat=\"0.707107 0.707107 0 0\" mass=\"0.3\" diaginertia=\"0.09 0.07 0.05\" />\n                          <geom name=\"gripper0_right_hand_visual\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"1 1 1 1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 0.1\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 0 1 0\" />\n                            <site name=\"gripper0_right_grip_site_cylinder\" pos=\"0 0 0\" size=\"0.005 10\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 -0.3\" />\n                          </body>\n                          <body name=\"gripper0_right_leftfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint1\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger1_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger1_collision\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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+}
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+        "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"
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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\" 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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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 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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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>",
+        "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf",
+        "ordered_index": 12,
+        "reset_view_sha256": {
+          "agentview_image": "7452e23dafee67db522b57dcde5428f3eb4c77ac9abe1da0ee419063f1a903d2",
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+          "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
+                ],
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+                  -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": "PickPlaceCan",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495221"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_172",
+      "initial_condition_id": "demo_172",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_172",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" 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contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint1_tip\" pos=\"0 0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger1_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 -0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n                          <body name=\"gripper0_right_rightfinger\" pos=\"0 0 0.0524\" quat=\"0.707107 0 0 0.707107\" gravcomp=\"0\">\n                            <inertial pos=\"0 0 0.05\" mass=\"0.1\" diaginertia=\"0.01 0.01 0.005\" />\n                            <joint name=\"gripper0_right_finger_joint2\" pos=\"0 0 0\" axis=\"0 1 0\" type=\"slide\" range=\"-0.04 0\" armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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+      "train_action_config": {
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+  "view_names": [
+    "agentview_image",
+    "robot0_eye_in_hand_image"
+  ],
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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\" 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scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 0.912\" gravcomp=\"0\">\n      <inertial pos=\"0 0 0\" mass=\"0\" diaginertia=\"0 0 0\" />\n      <camera name=\"robot0_robotview\" pos=\"1 0 0.4\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n      <body name=\"robot0_link0\" pos=\"0 0 0\" gravcomp=\"0\">\n        <inertial pos=\"0 0 0.05\" mass=\"4\" diaginertia=\"0.4 0.4 0.4\" />\n        <geom name=\"robot0_g0_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell010_001\" mesh=\"robot0_link0_vis_0\" />\n        <geom name=\"robot0_g1_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell009_001\" mesh=\"robot0_link0_vis_1\" />\n        <geom name=\"robot0_g2_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_001\" mesh=\"robot0_link0_vis_2\" />\n        <geom name=\"robot0_g3_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001\" mesh=\"robot0_link0_vis_3\" />\n        <geom name=\"robot0_g4_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_001\" mesh=\"robot0_link0_vis_4\" />\n        <geom name=\"robot0_g5_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001\" mesh=\"robot0_link0_vis_5\" />\n        <geom name=\"robot0_g6_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face636_001\" mesh=\"robot0_link0_vis_6\" />\n        <geom name=\"robot0_g7_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n              <geom name=\"robot0_g17_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001_001_001_002\" mesh=\"robot0_link3_vis_3\" />\n              <geom name=\"robot0_link3_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link3\" />\n              <body name=\"robot0_link4\" pos=\"0.0825 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                <inertial pos=\"-0.04 0.05 0\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                <joint name=\"robot0_joint4\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.0718 -0.0698\" armature=\"1.25\" damping=\"0.1\" frictionloss=\"0.1\" />\n                <geom name=\"robot0_g18_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_001_003_001\" mesh=\"robot0_link4_vis_0\" />\n                <geom name=\"robot0_g19_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_001_003_001\" mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell006_003_002_001\" mesh=\"robot0_link6_vis_0\" />\n                    <geom name=\"robot0_g26_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell011_002_002_001\" mesh=\"robot0_link6_vis_1\" />\n                    <geom name=\"robot0_g27_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell007_002_002_001\" mesh=\"robot0_link6_vis_2\" />\n                    <geom name=\"robot0_g28_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell005_001_001_002_001\" mesh=\"robot0_link6_vis_3\" />\n                    <geom name=\"robot0_g29_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell004_001_001_002_001\" mesh=\"robot0_link6_vis_4\" />\n                    <geom name=\"robot0_g30_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell003_002_001_002_001\" mesh=\"robot0_link6_vis_5\" />\n                    <geom name=\"robot0_g31_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell002_002_001_002_001\" mesh=\"robot0_link6_vis_6\" />\n                    <geom name=\"robot0_g32_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union001_001_001_002_001\" mesh=\"robot0_link6_vis_7\" />\n                    <geom name=\"robot0_g33_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Union_001_001_002_001\" mesh=\"robot0_link6_vis_8\" />\n                    <geom name=\"robot0_g34_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face539_002_001_002_001\" mesh=\"robot0_link6_vis_9\" />\n                    <geom name=\"robot0_g35_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_003_001_002_001\" mesh=\"robot0_link6_vis_10\" />\n                    <geom name=\"robot0_g36_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face374_002_001_002_001\" mesh=\"robot0_link6_vis_11\" />\n                    <geom name=\"robot0_g37_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face065_002_001_002_001\" mesh=\"robot0_link6_vis_12\" />\n                    <geom name=\"robot0_g38_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Face064_002_001_002_001\" mesh=\"robot0_link6_vis_13\" />\n                    <geom name=\"robot0_g39_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_006_001_002_001\" mesh=\"robot0_link6_vis_14\" />\n                    <geom name=\"robot0_g40_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_009_001_002_001\" mesh=\"robot0_link6_vis_15\" />\n                    <geom name=\"robot0_g41_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell012_002_002_001\" mesh=\"robot0_link6_vis_16\" />\n                    <geom name=\"robot0_link6_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link6\" />\n                    <body name=\"robot0_link7\" pos=\"0.088 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                      <inertial pos=\"0 0 0.08\" mass=\"0.5\" diaginertia=\"0.05 0.05 0.05\" />\n                      <joint name=\"robot0_joint7\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"0.714286\" damping=\"0.01\" frictionloss=\"0.1\" />\n                      <geom name=\"robot0_g42_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring004_004_002\" mesh=\"robot0_link7_vis_0\" />\n                      <geom name=\"robot0_g43_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring001_004_002\" mesh=\"robot0_link7_vis_1\" />\n                      <geom name=\"robot0_g44_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring007_004_001\" mesh=\"robot0_link7_vis_2\" />\n                      <geom name=\"robot0_g45_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring006_004_001\" mesh=\"robot0_link7_vis_3\" />\n                      <geom name=\"robot0_g46_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring005_004_001\" mesh=\"robot0_link7_vis_4\" />\n                      <geom name=\"robot0_g47_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring003_004_001\" mesh=\"robot0_link7_vis_5\" />\n                      <geom name=\"robot0_g48_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Mirroring002_004_001\" mesh=\"robot0_link7_vis_6\" />\n                      <geom name=\"robot0_g49_vis\" type=\"mesh\" contype=\"0\" 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1\" mesh=\"gripper0_right_hand_vis\" />\n                          <geom name=\"gripper0_right_hand_collision\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_hand\" />\n                          <site name=\"gripper0_right_ft_frame\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -1\" />\n                          <body name=\"gripper0_right_eef\" pos=\"0 0 0.097\" gravcomp=\"0\">\n                            <site name=\"gripper0_right_grip_site\" pos=\"0 0 0\" size=\"0.01\" group=\"1\" rgba=\"1 0 0 -0.5\" />\n                            <site name=\"gripper0_right_ee_x\" pos=\"0.1 0 0\" quat=\"0.707105 0 0.707108 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"1 0 0 0\" />\n                            <site name=\"gripper0_right_ee_y\" pos=\"0 0.1 0\" quat=\"0.707105 0.707108 0 0\" size=\"0.005 0.1\" group=\"1\" type=\"cylinder\" rgba=\"0 1 0 0\" />\n                            <site name=\"gripper0_right_ee_z\" pos=\"0 0 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+      "grad_log_prob_input_space": "checkpoint_model_action_space",
+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
+      "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "train_action_config": {
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+      "sha256": "441c0cebcf2ad0c21f0eb2728e832e275083caf8483ef1ca377cc7c320fc0df6"
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+  "view_layout": "width_concat",
+  "view_names": [
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+    "robot0_eye_in_hand_image"
+  ],
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+}
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name=\"robot0_Shell011_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell012_002_002_001\" shininess=\"0.45\" />\n    <material name=\"robot0_Shell_003_001_002_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Union001_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Union_001_001_002_001\" shininess=\"0.45\" rgba=\"0.039216 0.541176 0.780392 1\" />\n    <material name=\"robot0_Part__Mirroring001_004_002\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring002_004_001\" shininess=\"0.45\" rgba=\"0.25098 0.25098 0.25098 1\" />\n    <material name=\"robot0_Part__Mirroring003_004_001\" shininess=\"0.45\" 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=\"Milk_ceramic\" texture=\"Milk_tex-ceramic\" texuniform=\"true\" reflectance=\"0.5\" />\n    <material name=\"Bread_bread\" texture=\"Bread_tex-bread\" texuniform=\"true\" texrepeat=\"15 15\" reflectance=\"0.7\" />\n    <material name=\"Cereal_cereal\" texture=\"Cereal_tex-cereal\" reflectance=\"0.5\" />\n    <material name=\"Can_coke\" texture=\"Can_tex-can\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.7\" />\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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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\" 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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
+      "policy_type": "robomimic",
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+      "sha256": "441c0cebcf2ad0c21f0eb2728e832e275083caf8483ef1ca377cc7c320fc0df6"
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+      "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287"
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+  "view_layout": "width_concat",
+  "view_names": [
+    "agentview_image",
+    "robot0_eye_in_hand_image"
+  ],
+  "view_width": 384
+}
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+  "execution_protocol": "robomimic_native_success_terminating",
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+      "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n",
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+    "metadata": {
+      "extras": {
+        "metadata_sources": {
+          "environment": "Robomimic behavior dataset env_args",
+          "initial_condition": "rollout initial_condition payload",
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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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\" 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</body>\n    </body>\n    <body name=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site 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mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" 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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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom 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conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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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 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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=\"VisualMilk_main\" pos=\"0.0025 0.1575 0.885\" gravcomp=\"0\">\n      <geom name=\"VisualMilk_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualMilk_milk_mesh\" />\n      <site name=\"VisualMilk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualBread_main\" pos=\"0.1975 0.1575 0.845\" gravcomp=\"0\">\n      <geom name=\"VisualBread_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualBread_bread_mesh\" />\n      <site name=\"VisualBread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCereal_main\" pos=\"0.0025 0.4025 0.9\" gravcomp=\"0\">\n      <geom name=\"VisualCereal_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCereal_cereal_mesh\" />\n      <site name=\"VisualCereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"VisualCan_main\" pos=\"0.1975 0.4025 0.86\" gravcomp=\"0\">\n      <geom name=\"VisualCan_g0\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" mass=\"0\" rgba=\"0.8 0.8 0.8 0.3\" mesh=\"VisualCan_can_mesh\" />\n      <site name=\"VisualCan_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Milk_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Milk_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Milk_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Milk_milk_mesh\" />\n      <geom name=\"Milk_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Milk_ceramic\" mesh=\"Milk_milk_mesh\" />\n      <site name=\"Milk_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Bread_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Bread_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Bread_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"50\" rgba=\"0.5 0 0 1\" mesh=\"Bread_bread_mesh\" />\n      <geom name=\"Bread_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Bread_bread\" mesh=\"Bread_bread_mesh\" />\n      <site name=\"Bread_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Cereal_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Cereal_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Cereal_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"150\" rgba=\"0.5 0 0 1\" mesh=\"Cereal_cereal_mesh\" />\n      <geom name=\"Cereal_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Cereal_cereal\" mesh=\"Cereal_cereal_mesh\" />\n      <site name=\"Cereal_default_site\" pos=\"0 0 0\" size=\"0.002\" rgba=\"1 0 0 0\" />\n    </body>\n    <body name=\"Can_main\" pos=\"0 0 0\" gravcomp=\"0\">\n      <joint name=\"Can_joint0\" type=\"free\" damping=\"0.0005\" />\n      <geom name=\"Can_g0\" type=\"mesh\" condim=\"4\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" density=\"100\" rgba=\"0.5 0 0 1\" mesh=\"Can_can_mesh\" />\n      <geom name=\"Can_g0_visual\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" condim=\"4\" group=\"1\" friction=\"0.95 0.3 0.1\" solref=\"0.001 1\" solimp=\"0.998 0.998 0.001 0.5 2\" mass=\"0\" material=\"Can_coke\" mesh=\"Can_can_mesh\" />\n      <site name=\"Can_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>",
+        "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf",
+        "ordered_index": 45,
+        "reset_view_sha256": {
+          "agentview_image": "d952a2dda1bbfb0858e9d9fab62c7d2f77d1f95279cf74ee962522a0f7fca111",
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+            "robot0_eye_in_hand"
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+          "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",
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+                "input_min": -1,
+                "input_ref_frame": "world",
+                "interpolation": null,
+                "kp": 150,
+                "kp_limits": [
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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": "PickPlaceCan",
+        "env_version": "1.5.2",
+        "type": 1
+      },
+      "robosuite_version": "1.5.2"
+    },
+    "execution": {
+      "slurm_job_id": "5495221"
+    },
+    "execution_policy_id": "model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86",
+    "initial_condition": {
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+      "initial_condition_id": "demo_39",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_39",
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file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/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    <mesh name=\"VisualMilk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.stl\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"VisualBread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"VisualCereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.stl\" />\n    <mesh name=\"VisualCan_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.stl\" />\n    <mesh name=\"Milk_milk_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/milk.msh\" scale=\"0.9 0.9 0.9\" />\n    <mesh name=\"Bread_bread_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/bread.stl\" scale=\"0.8 0.8 0.8\" />\n    <mesh name=\"Cereal_cereal_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/cereal.msh\" />\n    <mesh name=\"Can_can_mesh\" file=\"/home/soroushn/code/robosuite-dev/robosuite/models/assets/objects/meshes/can.msh\" />\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=\"1 0 1.75\" quat=\"0.653098 0.271041 0.271041 0.653098\" />\n    <light pos=\"1 1 1.5\" dir=\"-0.19245 -0.19245 -0.96225\" directional=\"true\" castshadow=\"false\" />\n    <body name=\"bin1\" pos=\"0.1 -0.25 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"light-wood\" />\n      <geom name=\"bin1_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin1_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"bin2\" pos=\"0.1 0.28 0.8\" gravcomp=\"0\">\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.25 0.02\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.2 0.01 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.21 0.01 0.05\" pos=\"0 -0.25 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"0 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" rgba=\"0.5 0.5 0 1\" />\n      <geom size=\"0.01 0.25 0.05\" pos=\"-0.2 0 0.05\" type=\"box\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"dark-wood\" />\n      <geom name=\"bin2_leg1_visual\" size=\"0.01 0.4\" pos=\"0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg2_visual\" size=\"0.01 0.4\" pos=\"-0.15 0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg3_visual\" size=\"0.01 0.4\" pos=\"-0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n      <geom name=\"bin2_leg4_visual\" size=\"0.01 0.4\" pos=\"0.15 -0.2 -0.4\" type=\"cylinder\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"table_legs_metal\" />\n    </body>\n    <body name=\"robot0_base\" pos=\"-0.5 -0.1 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        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contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature018_001\" mesh=\"robot0_link0_vis_7\" />\n        <geom name=\"robot0_g8_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature019_001\" mesh=\"robot0_link0_vis_8\" />\n        <geom name=\"robot0_g9_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature023_001\" mesh=\"robot0_link0_vis_9\" />\n        <geom name=\"robot0_g10_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature022_001\" mesh=\"robot0_link0_vis_10\" />\n        <geom name=\"robot0_g11_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature017_001\" mesh=\"robot0_link0_vis_11\" />\n        <geom name=\"robot0_link0_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link0\" />\n        <body name=\"robot0_link1\" pos=\"0 0 0.333\" gravcomp=\"0\">\n          <inertial pos=\"0 0 -0.07\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n          <joint name=\"robot0_joint1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"5\" damping=\"0.1\" frictionloss=\"0.1\" />\n          <geom name=\"robot0_g12_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_001\" mesh=\"robot0_link1_vis\" />\n          <geom name=\"robot0_link1_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link1\" />\n          <body name=\"robot0_link2\" pos=\"0 0 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n            <inertial pos=\"0 -0.1 0\" mass=\"3\" diaginertia=\"0.3 0.3 0.3\" />\n            <joint name=\"robot0_joint2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-1.7628 1.7628\" armature=\"2.5\" damping=\"0.1\" frictionloss=\"0.1\" />\n            <geom name=\"robot0_g13_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature024\" mesh=\"robot0_link2_vis\" />\n            <geom name=\"robot0_link2_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link2\" />\n            <body name=\"robot0_link3\" pos=\"0 -0.316 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n              <inertial pos=\"0.04 0 -0.05\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n              <joint name=\"robot0_joint3\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1.66667\" damping=\"0.1\" frictionloss=\"0.1\" />\n              <geom name=\"robot0_g14_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature003_004_001_002\" mesh=\"robot0_link3_vis_0\" />\n              <geom name=\"robot0_g15_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_007_001_002\" mesh=\"robot0_link3_vis_1\" />\n              <geom name=\"robot0_g16_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature001_010_001_002\" mesh=\"robot0_link3_vis_2\" />\n      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mesh=\"robot0_link4_vis_1\" />\n                <geom name=\"robot0_g20_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature002_001_003_001\" mesh=\"robot0_link4_vis_2\" />\n                <geom name=\"robot0_g21_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_003_001\" mesh=\"robot0_link4_vis_3\" />\n                <geom name=\"robot0_link4_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link4\" />\n                <body name=\"robot0_link5\" pos=\"-0.0825 0.384 0\" quat=\"0.707107 -0.707107 0 0\" gravcomp=\"0\">\n                  <inertial pos=\"0 0 -0.15\" mass=\"2\" diaginertia=\"0.2 0.2 0.2\" />\n                  <joint name=\"robot0_joint5\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.8973 2.8973\" armature=\"1\" damping=\"0.1\" frictionloss=\"0.1\" />\n                  <geom name=\"robot0_g22_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell001_001_001_003\" mesh=\"robot0_link5_vis_0\" />\n                  <geom name=\"robot0_g23_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Shell_001_001_003\" mesh=\"robot0_link5_vis_1\" />\n                  <geom name=\"robot0_g24_vis\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" material=\"robot0_Part__Feature_002_004_003\" mesh=\"robot0_link5_vis_2\" />\n                  <geom name=\"robot0_link5_collision\" type=\"mesh\" rgba=\"0 0.5 0 1\" mesh=\"robot0_link5\" />\n                  <body name=\"robot0_link6\" pos=\"0 0 0\" quat=\"0.707107 0.707107 0 0\" gravcomp=\"0\">\n                    <inertial pos=\"0.06 0 0\" mass=\"1.5\" diaginertia=\"0.1 0.1 0.1\" />\n                    <joint name=\"robot0_joint6\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.0175 3.7525\" armature=\"0.833333\" damping=\"0.01\" frictionloss=\"0.1\" />\n                    <geom name=\"robot0_g25_vis\" type=\"mesh\" contype=\"0\" 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armature=\"1\" damping=\"100\" frictionloss=\"1\" />\n                            <geom name=\"gripper0_right_finger2_visual\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" rgba=\"0.499 0.499 0.499 1\" mesh=\"gripper0_right_finger_vis\" />\n                            <geom name=\"gripper0_right_finger2_collision\" quat=\"0 0 0 1\" type=\"mesh\" contype=\"0\" condim=\"4\" rgba=\"0 0 0.5 1\" mesh=\"gripper0_right_finger\" />\n                            <body name=\"gripper0_right_finger_joint2_tip\" pos=\"0 -0.0085 0.056\" gravcomp=\"0\">\n                              <inertial pos=\"0 0 0\" quat=\"0 0 0 1\" mass=\"0.01\" diaginertia=\"0.01 0.01 0.01\" />\n                              <geom name=\"gripper0_right_finger2_pad_collision\" size=\"0.008 0.004 0.008\" pos=\"0 0.005 -0.015\" quat=\"0 0 0 1\" type=\"box\" friction=\"2 0.05 0.0001\" solref=\"0.01 0.5\" rgba=\"0 0 0.5 1\" />\n                            </body>\n                          </body>\n  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+      "grad_log_prob_output_score_space": "checkpoint_model_action_score",
+      "metadata_source": "checkpoint_config_and_action_stats",
+      "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_30.pth",
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+}
diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86/demo_5/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86/demo_5/artifact_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..af325549c52662414a9ec16e655c3927fbb95265
--- /dev/null
+++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86/demo_5/artifact_manifest.json
@@ -0,0 +1,27 @@
+{
+  "complete": true,
+  "files": {
+    "rollout.mp4": {
+      "sha256": "e03ada4873609820da9801d13ed15e0cbff572607c0234c47cae052afd8208f7",
+      "size_bytes": 810777
+    },
+    "trajectory.h5": {
+      "sha256": "92c4ad46db5564bb63af03be85ccf962df92b81a49a367b66703dff7a5d1dd56",
+      "size_bytes": 148632
+    },
+    "trajectory.json": {
+      "sha256": "224f3f11c3f03e07eee774dba9833531ea145ed41408f86f50dc52e22d3811f8",
+      "size_bytes": 69351
+    }
+  },
+  "requested_codec": "libx264",
+  "schema_version": "published_sim_trajectory/v1",
+  "video": {
+    "codec": "h264",
+    "file_size_bytes": 810777,
+    "fps": 20.0,
+    "frame_count": 500,
+    "height": 384,
+    "width": 768
+  }
+}