Add RoboMimic PH visual-only policies

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

.gitattributes

@@ -63,3 +63,4 @@ can/mhf_densev1/dataset.hdf5 filter=lfs diff=lfs merge=lfs -text
 square/mhf_densev1/dataset.hdf5 filter=lfs diff=lfs merge=lfs -text
 square/mhf2_densev1/dataset.hdf5 filter=lfs diff=lfs merge=lfs -text
 lift/mhf_densev1_ntrajs=1020/dataset.hdf5 filter=lfs diff=lfs merge=lfs -text
+policies/robomimic-ph-visual-only/can/initial_conditions_ph50.hdf5 filter=lfs diff=lfs merge=lfs -text

policies/robomimic-ph-visual-only/README.md

@@ -0,0 +1,268 @@
+# RoboMimic PH visual-only policy bundle
+
+_Can, Lift, and Square visual diffusion-policy checkpoints with paired PH50 simulator rollouts and initial observations._
+
+---
+
+This directory is the local upload source for the
+`policies/robomimic-ph-visual-only/` subtree of the
+`infope/robomimic` Hugging Face dataset repository. It contains 10 selected
+checkpoints per task, 50 paired simulator rollouts per checkpoint, three
+VLM-judge cohorts per task, and one self-describing PH50 initial-condition HDF5
+file per task.
+
+> **Publication identity:** Pin the exact Hugging Face commit or immutable tag
+> when downloading this subtree. Rollout integrity is recorded beside each
+> rollout, while checkpoint and PH50 provenance is recorded in the task HDF5.
+>
+> VLM-judge manifests intentionally retain producing-workspace source locators
+> as informational provenance. Consumers must use the adjacent encoded videos
+> and their hashes; those source locator strings are not relocation inputs.
+
+## 📦 File tree
+
+`<task>` is one of `can`, `lift`, or `square`. `<policy_id>` is the complete
+checkpoint stem, and `<initial_condition_id>` is one of the 50 ordered PH50
+episode IDs such as `demo_105`.
+
+```text
+publish_ready/
+├── README.md
+├── can/
+│   ├── config.json                         # Published task-level configuration
+│   ├── initial_conditions_ph50.hdf5        # Ordered PH50 states and two-view reset observations
+│   ├── checkpoints/
+│   │   └── <policy_id>.pth                 # Exactly 10 selected checkpoints, name convention model_epoch<E>_successrate<R>_n50_tmax500_tmin<MIN>_tavg<AVG>
+│   └── rollouts/
+│       ├── <policy_id>/                    # Exactly 10 primary policy directories
+│       │   └── <initial_condition_id>/     # Exactly 50 paired PH50 leaves per policy
+│       │       ├── artifact_manifest.json
+│       │       ├── rollout.mp4
+│       │       ├── trajectory.h5
+│       │       └── trajectory.json
+│       ├── vlm_judge_policy10_ic50_s25_f25_fixed10_seed0/
+│       │   ├── manifest.json
+│       │   ├── fail/                       # 25 labeled MP4 clips
+│       │   └── success/                    # 25 labeled MP4 clips
+│       ├── vlm_judge_policy10_ic50_s25_f25_original20fps_seed0/
+│       └── vlm_judge_policy10_ic50_s25_f25_cap200_uniform10_seed0/
+├── lift/                                   # Same task-level contract as Can
+└── square/                                 # Same task-level contract as Can
+```
+
+Checkpoint and rollout directory names encode the evaluated PH50 result:
+
+```text
+model_epoch<E>_successrate<R>_n50_tmax500_tmin<MIN>_tavg<AVG>
+```
+
+The directory inventory is authoritative for the individual policy names; this
+README does not duplicate the 30-name checkpoint table.
+
+`config.json` is retained as useful task-level configuration. The exact
+training-config SHA-256 for each checkpoint is recorded separately in
+`initial_conditions_ph50.hdf5:/provenance/published_checkpoints`; checkpoints
+from continuation branches can therefore reference a different configuration
+digest than the adjacent task-level copy.
+
+### Primary rollout leaf
+
+| File | Contents |
+| --- | --- |
+| `artifact_manifest.json` | Leaf completion flag, file sizes, SHA-256 digests, and video metadata |
+| `trajectory.json` | Full rollout identity, checkpoint provenance, initial-condition state and model XML, simulator outcome, timing, and observation contract |
+| `trajectory.h5` | Post-action arrays: `actions`, `rewards`, `states`, `success_simulator`, and `valid_mask` |
+| `rollout.mp4` | Post-action 384×384 `agentview` and wrist-camera frames concatenated horizontally at 20 FPS |
+
+`trajectory.h5` does not contain RGB observations. Its `states[0]` is the first
+post-action successor state, not the pre-action reset state. Use
+`initial_conditions_ph50.hdf5` for value-function queries at $o_0$.
+
+## 💾 PH50 initial-condition HDF5
+
+Each task's `initial_conditions_ph50.hdf5` has schema version
+`robomimic_ph50_initial_conditions/v1`. The PH50 cohort is selected by applying
+NumPy's seed-0 permutation without replacement to the numerically ordered pool
+`demo_0` through `demo_199`, then taking the first 50 episode starts.
+
+These 50 episodes are members of the same unfiltered 200-demonstration PH
+dataset used to train every published checkpoint for that task. PH50 is a
+paired evaluation cohort, not a held-out initial-condition split.
+
+### Object and attribute tree
+
+```text
+initial_conditions_ph50.hdf5
+├── attrs
+│   ├── schema_version
+│   ├── description
+│   ├── task
+│   ├── condition_count
+│   ├── selection_rule
+│   ├── selection_seed
+│   ├── selection_pool_order
+│   ├── source_timestep
+│   ├── source_dataset_path
+│   ├── source_dataset_sha256
+│   ├── source_dataset_size_bytes
+│   ├── source_dataset_episode_count
+│   ├── source_dataset_training_relation
+│   ├── rgb_keys_json
+│   ├── rgb_layout
+│   ├── rgb_dtype
+│   ├── rgb_value_range
+│   ├── training_image_resolution
+│   ├── policy_evaluation_render_resolution
+│   ├── views_384x384_semantics
+│   ├── views_84x84_semantics
+│   ├── resize_function
+│   ├── resize_contract
+│   ├── observation_horizon
+│   ├── initial_history_padding
+│   ├── rollout_validation_scope
+│   └── rollout_state_timing
+├── condition_ids                            # [50] ordered UTF-8 strings
+├── provenance/
+│   ├── attrs
+│   │   ├── training_manifest_sha256
+│   │   ├── ph_selection_manifest_sha256
+│   │   ├── initial_conditions_manifest_sha256
+│   │   ├── reset_views_384x384_sha256
+│   │   ├── source_dataset_manifest_sha256
+│   │   ├── published_checkpoint_count
+│   │   └── validated_rollout_leaf_count
+│   └── published_checkpoints/
+│       ├── policy_id                        # [10] UTF-8 strings
+│       ├── filename                         # [10] UTF-8 strings
+│       ├── checkpoint_sha256                # [10] UTF-8 strings
+│       └── training_config_sha256           # [10] UTF-8 strings
+└── conditions/
+    └── <initial_condition_id>/
+        ├── attrs
+        │   ├── ordered_index
+        │   ├── source_episode_id
+        │   ├── source_timestep
+        │   ├── source_state_sha256
+        │   └── model_xml_sha256
+        ├── simulator_state                  # [D_sim] float64; D_sim depends on task
+        ├── views_384x384/
+        │   ├── agentview_image              # [384, 384, 3] uint8 HWC; attr: sha256
+        │   └── robot0_eye_in_hand_image     # [384, 384, 3] uint8 HWC; attr: sha256
+        └── views_84x84/
+            ├── agentview_image              # [84, 84, 3] uint8 HWC
+            └── robot0_eye_in_hand_image     # [84, 84, 3] uint8 HWC
+                attrs on each 84x84 dataset:
+                ├── sha256
+                ├── source_ph_native_84x84_sha256
+                └── equals_source_ph_native_84x84
+```
+
+The task-specific simulator-state widths are 32 for Lift, 71 for Can, and 45
+for Square. `condition_ids` supplies the authoritative PH50 order; HDF5 group
+iteration order must not be used as the cohort order.
+
+### Root attribute semantics
+
+| Attribute group | Attributes | Meaning |
+| --- | --- | --- |
+| Schema and task | `schema_version`, `description`, `task`, `condition_count` | Identifies the artifact contract and its task-specific 50-condition payload |
+| Cohort selection | `selection_rule`, `selection_seed`, `selection_pool_order`, `source_timestep` | Reconstructs the ordered 50-of-200 episode-start selection |
+| Source dataset | `source_dataset_path`, `source_dataset_sha256`, `source_dataset_size_bytes`, `source_dataset_episode_count`, `source_dataset_training_relation` | Binds PH50 to the exact PH training dataset and states that the cohort is not held out |
+| RGB representation | `rgb_keys_json`, `rgb_layout`, `rgb_dtype`, `rgb_value_range` | Declares two ordered HWC `uint8` views in `[0,255]` |
+| Resolution spaces | `training_image_resolution`, `policy_evaluation_render_resolution`, `views_384x384_semantics`, `views_84x84_semantics` | Distinguishes native training images, exact reset renders, and policy-aligned resized views |
+| Resize transform | `resize_function`, `resize_contract` | Names the evaluator-owned bilinear resize with `align_corners=False`, rounding, clamping, and `uint8` conversion |
+| Initial history | `observation_horizon`, `initial_history_padding` | Declares two-frame policy history with the first observation repeated at $t=0$ |
+| Rollout relationship | `rollout_validation_scope`, `rollout_state_timing` | Records validation coverage and explains why rollout `states[0]` is not the stored reset state |
+
+### View semantics
+
+The 384×384 datasets are lossless pre-action renders captured after restoring
+the exact simulator state. The 84×84 datasets are derived from those reset
+renders with the same evaluator path used for policy feedback:
+
+```text
+384x384 uint8 HWC
+  -> bilinear resize with align_corners=False
+  -> round
+  -> clamp to [0,255]
+  -> uint8 84x84 HWC
+```
+
+The source PH datasets also contain native 84×84 renders used during training.
+Those native images and the resized PH50 views represent the same named cameras
+and reset conditions but are not assumed to be pixel-identical. Each 84×84
+dataset therefore stores both its own `sha256` and the corresponding native
+training-image digest, plus the explicit equality flag.
+
+## 🔍 Minimal reader example
+
+```python
+from pathlib import Path
+
+import h5py
+import numpy as np
+
+
+path = Path("lift/initial_conditions_ph50.hdf5")
+with h5py.File(path, "r") as hdf5:
+    condition_ids = hdf5["condition_ids"].asstr()[...]
+    condition_id = condition_ids[0]
+
+    agentview = hdf5[
+        f"conditions/{condition_id}/views_84x84/agentview_image"
+    ][...]
+    wrist = hdf5[
+        f"conditions/{condition_id}/views_84x84/robot0_eye_in_hand_image"
+    ][...]
+
+    # The policy's initial two-frame history repeats the reset observation.
+    agentview_history = np.stack([agentview, agentview], axis=0)
+    wrist_history = np.stack([wrist, wrist], axis=0)
+```
+
+The stored arrays are raw observations. A value-function implementation remains
+responsible for its declared channel layout, batching, and normalization. For
+initial-state model-free OPE over this paired cohort, the intended reduction is
+$\widehat J(\pi)=\frac{1}{50}\sum_{i=1}^{50}\widehat V^\pi(o_{0,i})$.
+
+## ✅ Validation boundary
+
+The HDF5 producer validated, for each task:
+
+- Exactly 50 ordered conditions selected from the exact 200-demo training dataset
+- Exactly 10 published checkpoint identities and content hashes
+- Exactly 500 primary rollout leaves, for 1,500 leaves across all three tasks
+- Exact initial simulator states, model XML hashes, reset-view hashes, shapes, dtypes, and resize outputs
+- `trajectory.h5` identity metadata and its sibling manifest and trajectory JSON hashes
+
+This validation establishes artifact consistency. It does not make PH50 an
+independent test split, fit a visual value function, or establish scientific
+OPE accuracy.
+
+Integrity metadata is intentionally local to the artifact it describes:
+
+- Each primary rollout leaf has an `artifact_manifest.json` covering its video,
+  trajectory JSON, and trajectory HDF5.
+- Each VLM-judge cohort has a `manifest.json` covering its selected cases and
+  adjacent encoded videos.
+- Each `initial_conditions_ph50.hdf5` records the ordered PH50 cohort,
+  checkpoint hashes, training-config hashes, source-dataset identity, and view
+  hashes.
+- The immutable Hugging Face commit or tag supplies the identity of the complete
+  downloaded subtree.
+
+## 🔗 Publication runbook
+
+The repository-side publication procedure is maintained at:
+
+```text
+docs/0819-regularize_mf_v_mb_datasets/
+  06_publish_ready_ph_visual_policy_bundle/
+  06a_publish_ph_visual_policy_bundle_to_huggingface.md
+```
+
+Publish through a Hugging Face pull request. Before merge, download only this
+subtree from the pull-request revision and recheck the expected task,
+checkpoint, rollout-leaf, and VLM-cohort counts together with the adjacent
+manifest and HDF5 hashes. Record the exact merged commit and immutable release
+tag for coworker downloads.

policies/robomimic-ph-visual-only/can/checkpoints/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth

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policies/robomimic-ph-visual-only/can/config.json

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+{
+    "algo_name": "diffusion_policy",
+    "experiment": {
+        "name": "diffusion_policy_can_ph_visual_only_independent_encoder",
+        "validate": false,
+        "logging": {
+            "terminal_output_to_txt": true,
+            "log_tb": false,
+            "log_wandb": true,
+            "wandb_proj_name": "infope_robomimic",
+            "wandb_group": "ph_visual_only_independent_encoder"
+        },
+        "save": {
+            "enabled": true,
+            "every_n_seconds": null,
+            "every_n_epochs": null,
+            "epochs": [
+                0,
+                2,
+                4,
+                6,
+                8,
+                10,
+                15,
+                20,
+                30,
+                50,
+                100,
+                200,
+                300,
+                400,
+                500
+            ],
+            "on_best_validation": false,
+            "on_best_rollout_return": false,
+            "on_best_rollout_success_rate": false
+        },
+        "epoch_every_n_steps": 100,
+        "validation_epoch_every_n_steps": 10,
+        "env": null,
+        "additional_envs": null,
+        "render": false,
+        "render_video": false,
+        "keep_all_videos": false,
+        "video_skip": 5,
+        "rollout": {
+            "enabled": false,
+            "n": 50,
+            "horizon": 500,
+            "rate": null,
+            "warmstart": 0,
+            "terminate_on_success": true,
+            "epochs": []
+        },
+        "env_meta_update_dict": {},
+        "ckpt_path": null
+    },
+    "train": {
+        "data": [
+            {
+                "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5"
+            }
+        ],
+        "output_dir": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/.incomplete/seed_0",
+        "normalize_weights_by_ds_size": false,
+        "num_data_workers": 0,
+        "hdf5_cache_mode": "low_dim",
+        "hdf5_use_swmr": true,
+        "hdf5_load_next_obs": false,
+        "hdf5_normalize_obs": false,
+        "hdf5_filter_key": null,
+        "hdf5_validation_filter_key": null,
+        "seq_length": 16,
+        "pad_seq_length": true,
+        "frame_stack": 2,
+        "pad_frame_stack": true,
+        "dataset_keys": [
+            "actions",
+            "rewards",
+            "dones"
+        ],
+        "action_keys": [
+            "actions"
+        ],
+        "action_config": {
+            "actions": {
+                "normalization": null
+            }
+        },
+        "goal_mode": null,
+        "cuda": true,
+        "batch_size": 16,
+        "num_epochs": 500,
+        "seed": 0,
+        "max_grad_norm": null
+    },
+    "algo": {
+        "optim_params": {
+            "policy": {
+                "optimizer_type": "adamw",
+                "learning_rate": {
+                    "initial": 0.0001,
+                    "decay_factor": 0.1,
+                    "step_every_batch": true,
+                    "scheduler_type": "cosine",
+                    "num_cycles": 0.5,
+                    "warmup_steps": 500,
+                    "epoch_schedule": []
+                },
+                "regularization": {
+                    "L2": 1e-06
+                },
+                "num_train_batches": 100,
+                "num_epochs": 500
+            }
+        },
+        "horizon": {
+            "observation_horizon": 2,
+            "action_horizon": 1,
+            "prediction_horizon": 16
+        },
+        "unet": {
+            "enabled": true,
+            "diffusion_step_embed_dim": 256,
+            "down_dims": [
+                256,
+                512,
+                1024
+            ],
+            "kernel_size": 5,
+            "n_groups": 8
+        },
+        "ema": {
+            "enabled": true,
+            "power": 0.75
+        },
+        "frozen_obs_encoder": {
+            "checkpoint": null,
+            "checkpoint_sha256": null,
+            "active_encoder_sha256": null,
+            "source": "ema"
+        },
+        "ddpm": {
+            "enabled": true,
+            "num_train_timesteps": 100,
+            "num_inference_timesteps": 100,
+            "beta_schedule": "squaredcos_cap_v2",
+            "clip_sample": true,
+            "prediction_type": "epsilon"
+        },
+        "ddim": {
+            "enabled": false,
+            "num_train_timesteps": 100,
+            "num_inference_timesteps": 10,
+            "beta_schedule": "squaredcos_cap_v2",
+            "clip_sample": true,
+            "set_alpha_to_one": true,
+            "steps_offset": 0,
+            "prediction_type": "epsilon"
+        }
+    },
+    "observation": {
+        "modalities": {
+            "obs": {
+                "low_dim": [],
+                "rgb": [
+                    "agentview_image",
+                    "robot0_eye_in_hand_image"
+                ],
+                "depth": [],
+                "scan": []
+            },
+            "goal": {
+                "low_dim": [],
+                "rgb": [],
+                "depth": [],
+                "scan": []
+            }
+        },
+        "encoder": {
+            "low_dim": {
+                "core_class": null,
+                "core_kwargs": {},
+                "obs_randomizer_class": null,
+                "obs_randomizer_kwargs": {}
+            },
+            "rgb": {
+                "core_class": "VisualCore",
+                "core_kwargs": {
+                    "feature_dimension": 64,
+                    "backbone_class": "ResNet18Conv",
+                    "backbone_kwargs": {
+                        "pretrained": false,
+                        "input_coord_conv": false
+                    },
+                    "pool_class": "SpatialSoftmax",
+                    "pool_kwargs": {
+                        "num_kp": 32,
+                        "learnable_temperature": false,
+                        "temperature": 1.0,
+                        "noise_std": 0.0
+                    }
+                },
+                "obs_randomizer_class": null,
+                "obs_randomizer_kwargs": {}
+            },
+            "depth": {
+                "core_class": "VisualCore",
+                "core_kwargs": {},
+                "obs_randomizer_class": null,
+                "obs_randomizer_kwargs": {}
+            },
+            "scan": {
+                "core_class": "ScanCore",
+                "core_kwargs": {},
+                "obs_randomizer_class": null,
+                "obs_randomizer_kwargs": {}
+            }
+        }
+    },
+    "meta": {
+        "hp_base_config_file": null,
+        "hp_keys": [],
+        "hp_values": []
+    }
+}

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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 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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/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": 0,
+        "reset_view_sha256": {
+          "agentview_image": "a73d0b2d3a8442474b15daf8eab86a3a45cc296a17b65cd4704d9eb124cf7b28",
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+      "slurm_job_id": "5495221"
+    },
+    "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_111",
+      "initial_condition_id": "demo_111",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_111",
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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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+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth",
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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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+      "policy_type": "robomimic",
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+      "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a"
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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"
+  ],
+  "view_width": 384
+}

policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_116/artifact_manifest.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\" 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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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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      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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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+    "initial_condition": {
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+      "initial_condition_id": "demo_119",
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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": 29,
+        "reset_view_sha256": {
+          "agentview_image": "8e594225d23fa157018486d90ced8e02d5ef9fd8d5dbef4795b9497ca11c5700",
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+      "slurm_job_id": "5495221"
+    },
+    "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00",
+    "initial_condition": {
+      "dataset_id": "image_v15_success200_total200_84x84",
+      "episode_id": "demo_123",
+      "initial_condition_id": "demo_123",
+      "pairing_key": {
+        "ep_meta": null,
+        "episode_id": "demo_123",
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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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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_identity": true,
+      "action_stats_present": true,
+      "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.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_10.pth",
+      "policy_type": "robomimic",
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+      "train_action_config": {
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+      "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a"
+    },
+    "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",
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+  "view_layout": "width_concat",
+  "view_names": [
+    "agentview_image",
+    "robot0_eye_in_hand_image"
+  ],
+  "view_width": 384
+}

policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_126/artifact_manifest.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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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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+}